diff --git a/handover_mic/franka_randomized_500/instructions/episode0.json b/handover_mic/franka_randomized_500/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..9155346b46af89e1a0f9b061c0c9d9dc850d877e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the compact size microphone and pass it across.", + "Take the compact size microphone and move it to the other hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Take the metal head microphone and pass it to another hand", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Take the compact size microphone and move it to another hand.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the metal head microphone and hand it over to the other side.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Use one hand to grab the handheld microphone and pass it.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the handheld microphone and pass it to the other hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Seize the black and white microphone and offer it to the other arm", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Take the metal head microphone and move it to another hand.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Use one hand to grab the compact size microphone and pass it.", + "Secure the microphone for voice recording from the table and transfer it.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick up the compact size microphone and hand it to the other side.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grip the metal head microphone and pass it to the other side", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode1.json b/handover_mic/franka_randomized_500/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..cb30ed650bd9697d01b23f018d464e98e56aeafa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grasp the dark blue microphone and pass it across.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Reach for the round head microphone and move it to the other hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the dark blue microphone and move it to the opposite side", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the dark blue microphone and pass it across.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the round head microphone and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the small audio microphone and move it to the opposite side", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grasp the dark blue microphone and pass it across.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grip the round head microphone and pass it to the other side", + "Reach for the small audio microphone and move it to the other hand." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode10.json b/handover_mic/franka_randomized_500/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..3967b175ea71e5f920941df8785f83299d2371d0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Use one hand to grab the microphone with slider switch and pass it.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the compact teal and white microphone and move it to another hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the textured white microphone head and move it to the other hand.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Grasp the handheld teal microphone and switch it to another hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the microphone with white rounded head and pass it across.", + "Lift the teal microphone and hand it over to the other side.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Take the microphone with slider switch and pass it to another hand", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Grasp the teal microphone and switch it to another hand.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Lift the microphone with white rounded head and pass it across.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Take the handheld teal microphone and pass it to another hand", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Reach for the microphone with white rounded head and move it to the other hand." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode101.json b/handover_mic/franka_randomized_500/instructions/episode101.json new file mode 100644 index 0000000000000000000000000000000000000000..9331320d0b011c84088bd1508b460069077ac83a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode101.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld microphone and shift it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the handheld microphone and move it to the opposite side", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Seize the handheld microphone and offer it to the other arm", + "Take the black and white microphone and move it to another hand.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick the compact size microphone from the surface and switch hands.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grasp the compact size microphone and switch it to another hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grasp the microphone with textured metal head and pass it across.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the handheld microphone and hand it to someone else.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the compact size microphone and move it to the other hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Secure the microphone for voice recording using one arm and transfer it.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the compact size microphone and pass it across.", + "Seize the compact size microphone and offer it to the other arm", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grip the black and white microphone and pass it to the other side", + "Lift the handheld microphone and hand it to someone else.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick up the black and white microphone and move it to the opposite side", + "Secure the microphone for voice recording using one arm and transfer it.", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the compact size microphone and hand it to the other side easily." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode102.json b/handover_mic/franka_randomized_500/instructions/episode102.json new file mode 100644 index 0000000000000000000000000000000000000000..4d09e455d1733d4be63ad26438ed26e6719407bc --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode102.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the small audio microphone and hand it to the other side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the small audio microphone and pass it across.", + "Grip the round head microphone and pass it to the other side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the round head microphone with one hand and transfer it", + "Grasp the gray and dark blue microphone and pass it across.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the small audio microphone and pass it to another hand", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the dark blue microphone and move it to another hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the gray stem microphone with foam top, then pass it across without delay." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode104.json b/handover_mic/franka_randomized_500/instructions/episode104.json new file mode 100644 index 0000000000000000000000000000000000000000..ae59363d3f181563fa683100207bb845cbdfc7cc --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode104.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the teal microphone and pass it to another hand", + "Secure the handheld teal microphone using one arm and transfer it.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Lift the teal microphone and hand it over to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Lift the textured white microphone head and pass it across.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone and pass it across.", + "Use one hand to grab the teal microphone and pass it.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Pick up the teal microphone and hand it to the other side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the microphone with white rounded head and move it to the other hand.", + "Take the microphone with slider switch and move it to another hand.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Take the microphone with slider switch and pass it to another hand", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the textured white microphone head and pass it across.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the teal microphone and shift it to the other arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and pass it across.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Pick up the textured white microphone head and move it to the opposite side", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the white and teal sound microphone and move it to the other hand.", + "Take the sound microphone with teal body and move it to another hand.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Reach for the teal microphone and move it to the other hand.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode105.json b/handover_mic/franka_randomized_500/instructions/episode105.json new file mode 100644 index 0000000000000000000000000000000000000000..83cda8cbaddefd98e098e77333e24fa2396446a3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode105.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grip the black and white microphone and pass it to the other side", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grasp the compact size microphone and pass it across.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the black and white microphone and pass it across.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the compact size microphone with one hand and transfer it", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Hold the compact size microphone and pass it to the other hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Take the handheld microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Grip the compact size microphone and pass it to the other side", + "Grasp the handheld microphone, then give it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Seize the compact size microphone and offer it to the other arm", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the compact size microphone and switch it to another hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the compact size microphone and deliver it to another side.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the compact size microphone and pass it across.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the compact size microphone with one hand and transfer it", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Secure the compact size microphone using one arm and transfer it.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Secure the metal head microphone from the table and transfer it.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Take the handheld microphone and pass it to another hand", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Hold the compact size microphone and pass it to the other hand.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode106.json b/handover_mic/franka_randomized_500/instructions/episode106.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7dde73ef8da6cdcf3750213723f2814cc5199d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode106.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Take the teal microphone and move it to the other hand.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Secure the textured white microphone head from the table and transfer it.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the teal microphone and pass it across.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the microphone with white rounded head and move it to another hand.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the microphone with slider switch, then pass it across without delay.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Secure the microphone with white rounded head from the table and transfer it.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Lift the teal microphone and deliver it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the sound microphone with teal body and pass it across.", + "Take the sound microphone with teal body and pass it to another hand", + "Take the sound microphone with teal body and move it to another hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Pick up the teal microphone and hand it to the other side.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Secure the teal microphone using one arm and transfer it.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Reach for the teal microphone and move it to the other hand.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the microphone with slider switch and switch it to another hand." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode108.json b/handover_mic/franka_randomized_500/instructions/episode108.json new file mode 100644 index 0000000000000000000000000000000000000000..7693f3a9c29ecefba3b1ff066204d72e24e81203 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode108.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Secure the round head microphone from the table and transfer it.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the dark blue microphone and move it to another hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the small audio microphone and pass it across.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Hold the round head microphone and pass it to the other hand.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the round head microphone and hand it to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Use one hand to grab the small audio microphone and pass it.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the round head microphone and hand it over to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the small audio microphone and deliver it to another side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the round head microphone and hand it to someone else." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode109.json b/handover_mic/franka_randomized_500/instructions/episode109.json new file mode 100644 index 0000000000000000000000000000000000000000..b371d105adda62c445b3226fbc8994df1a733759 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode109.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the handheld microphone and shift it to the opposite hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the microphone for voice recording and hand it to someone else.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the black and white microphone and hand it over to the other side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other arm.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Take the compact size microphone and pass it to another hand", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone with one hand and transfer it", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the handheld microphone and deliver it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Take the microphone with black tip and white body and move it to another hand.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the black and white microphone and deliver it to another side.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grip the compact size microphone and pass it to the other side", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Secure the metal head microphone from the table and transfer it.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Hold the black and white microphone and shift it to the other arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it to the other side easily.", + "Seize the microphone for voice recording and offer it to the other arm", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the microphone with black tip and white body and pass it to the other hand." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode11.json b/handover_mic/franka_randomized_500/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..6661bd4598e4bd8ab8c2f03b500b6803577b6f68 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white and teal sound microphone with one hand and transfer it", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Lift the teal microphone and hand it over to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grab the teal microphone and transfer it to another hand", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Take the textured white microphone head and move it to another hand.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the sound microphone with teal body and pass it to another hand", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the rounded white tip microphone and pass it across.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grip the microphone with slider switch and pass it to the other side", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Grasp the microphone with slider switch and pass it across.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the teal microphone and hand it over to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Hold the handheld teal microphone and deliver it to another side.", + "Take the rounded white tip microphone and pass it to another hand", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Lift the handheld teal microphone and hand it to someone else.", + "Seize the textured white microphone head and offer it to the other arm", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the textured white microphone head and pass it across.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the teal microphone using one arm and transfer it.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Grasp the teal microphone, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grip the microphone with white rounded head and pass it to the other side", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grasp the rounded white tip microphone and pass it across.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the teal microphone and pass it to the other hand.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Take the microphone with slider switch and move it to the other hand." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode110.json b/handover_mic/franka_randomized_500/instructions/episode110.json new file mode 100644 index 0000000000000000000000000000000000000000..98d58b584a46fa8ff8106059d9ff75be1a662161 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode110.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the compact size microphone and deliver it to another side.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the metal head microphone and move it to another hand.", + "Hold the metal head microphone securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the metal head microphone and hand it over to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and pass it across.", + "Hold the compact size microphone and deliver it to another side.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Take the microphone for voice recording and pass it to another hand", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Use one hand to grab the compact size microphone and pass it.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Take the handheld microphone and move it to another hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Hold the metal head microphone with one hand and transfer it", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the handheld microphone and pass it to the other hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Use the left arm to hold the compact size microphone, then give it to the right arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode111.json b/handover_mic/franka_randomized_500/instructions/episode111.json new file mode 100644 index 0000000000000000000000000000000000000000..e1c6c4e065d9e52131ab962f62b8fd3ad5a401c8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode111.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the dark blue microphone and pass it to the other hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the small audio microphone, then give it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone for recording sound and switch it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the round head microphone and pass it to another hand", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the small audio microphone and transfer it to another hand", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the small audio microphone and switch it to another hand.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the microphone with round foam head and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Lift the microphone with smooth gray stem and hand it over to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode112.json b/handover_mic/franka_randomized_500/instructions/episode112.json new file mode 100644 index 0000000000000000000000000000000000000000..81ce5f0c8dd2c95bd50ab7b2889430248a3a40e0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode112.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Lift the textured white microphone head and deliver it to the other side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Pick the teal microphone from the surface and switch hands.", + "Hold the textured white microphone head and pass it to the other hand.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Lift the sound microphone with teal body and pass it across.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the microphone with slider switch and pass it across.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Pick up the teal microphone and move it to the opposite side", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the microphone with slider switch and hand it over to the other side.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Take the teal microphone and move it to another hand.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Take the microphone with white rounded head and move it to the other hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Lift the compact teal and white microphone and pass it across.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grasp the microphone with slider switch and pass it across.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Pick up the teal microphone and move it to the opposite side", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Lift the textured white microphone head and hand it over to the other side.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Use one hand to grab the teal microphone and pass it.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Lift the textured white microphone head and deliver it to the other side.", + "Hold the textured white microphone head and shift it to the other arm." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode113.json b/handover_mic/franka_randomized_500/instructions/episode113.json new file mode 100644 index 0000000000000000000000000000000000000000..aeefcdbc6e0a79bed5c0fd74914f0cc91cc91ab0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode113.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the small audio microphone and pass it across.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grab the dark blue microphone and transfer it to another hand", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the small audio microphone and pass it to another hand", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grab the round head microphone and transfer it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the microphone for recording sound with one hand and transfer it", + "Take the small audio microphone and move it to the other hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the small audio microphone and move it to another hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the dark blue microphone using the left arm and pass it to the right arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode114.json b/handover_mic/franka_randomized_500/instructions/episode114.json new file mode 100644 index 0000000000000000000000000000000000000000..b3219567655d77f5c1cb17dc2373096772fdb3a7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode114.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the metal head microphone and hand it to someone else.", + "Lift the microphone with black tip and white body and pass it across.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the compact size microphone and pass it across.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Use one hand to grab the black and white microphone and pass it.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Pick up the compact size microphone and hand it to the other side.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Take the microphone for voice recording and move it to another hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Take the white microphone handle black accents and pass it to another hand", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the compact size microphone and deliver it to another side.", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the black and white microphone and hand it over to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the metal head microphone and pass it across.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Grasp the microphone for voice recording and pass it across.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Use one hand to grab the black and white microphone and pass it.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the microphone for voice recording and move it to another hand.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Take the compact size microphone and pass it to another hand", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Hold the metal head microphone and deliver it to another side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick the metal head microphone and transfer it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the black and white microphone and hand it over to the other side.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the handheld microphone and hand it to someone else." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode115.json b/handover_mic/franka_randomized_500/instructions/episode115.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7a9b6cb1e7a8a394d8c83e0fe811acdfa092ac --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode115.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small audio microphone and transfer it to the opposite side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the round head microphone and hand it over to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the dark blue microphone and pass it across.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the round head microphone and hand it over to the other side.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the round head microphone and deliver it to another side.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the round head microphone and move it to another hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the microphone for recording sound and pass it across.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grab the small audio microphone and transfer it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the small audio microphone and hand it to the other side easily.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it over to the other arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode118.json b/handover_mic/franka_randomized_500/instructions/episode118.json new file mode 100644 index 0000000000000000000000000000000000000000..bb434681e66de841fb30ae65978dc906f08a8e9c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode118.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Use one hand to grab the metal head microphone and pass it.", + "Hold the handheld microphone and pass it to the other hand.", + "Hold the handheld microphone securely and shift it to another arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Secure the metal head microphone using one arm and transfer it.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the microphone for voice recording and pass it across.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grasp the metal head microphone, then give it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the handheld microphone from the table and transfer it.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grip the metal head microphone and pass it to the other side", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone, then pass it across without delay.", + "Secure the black and white microphone using one arm and transfer it.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Pick up the black and white microphone and hand it to the other side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone with rounded mesh head and pass it across.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Seize the metal head microphone and offer it to the other arm", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode12.json b/handover_mic/franka_randomized_500/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..fe46b28ee70c286e41c9730bcb0220116fa3d93f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Pick the metal head microphone from the surface and switch hands.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the handheld microphone securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the black and white microphone and switch it to another hand.", + "Hold the compact size microphone and deliver it to another side.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the compact size microphone and move it to the other hand.", + "Secure the compact size microphone using one arm and transfer it.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the metal head microphone and pass it to another hand", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the handheld microphone and hand it to someone else.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grasp the compact size microphone and pass it across.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the metal head microphone and move it to the other hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with black tip and white body and pass it to another hand", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Hold the metal head microphone securely and shift it to another arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode120.json b/handover_mic/franka_randomized_500/instructions/episode120.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c946cdc6f7038c4f90c27ebf0ffe2173dc2c9d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode120.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the teal microphone and give it to the other.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the textured white microphone head and hand it to someone else.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the textured white microphone head and pass it to another hand", + "Grip the sound microphone with teal body and pass it to the other side", + "Grasp the textured white microphone head and switch it to another hand.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the rounded white tip microphone and move it to the other hand.", + "Grasp the sound microphone with teal body and pass it across.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Seize the textured white microphone head and offer it to the other arm", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Grab the teal microphone and give it to the opposite arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the microphone with white rounded head and pass it across.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Take the white and teal sound microphone and pass it to another hand", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the microphone with white rounded head and move it to the other hand.", + "Grasp the teal microphone and pass it across.", + "Take the textured white microphone head and move it to another hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Use one hand to grab the teal microphone and pass it.", + "Lift the sound microphone with teal body and hand it to someone else." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode122.json b/handover_mic/franka_randomized_500/instructions/episode122.json new file mode 100644 index 0000000000000000000000000000000000000000..e52f408b137a0e14c5801f32ae2914164aa84997 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode122.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the white microphone handle black accents and move it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the metal head microphone and deliver it to the other side.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Hold the black and white microphone and deliver it to another side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the black and white microphone and switch it to another hand.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the compact size microphone securely and shift it to another arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Lift the metal head microphone and pass it across.", + "Hold the black and white microphone and pass it to the other hand.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the microphone for voice recording, then pass it across without delay.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the black and white microphone with one hand and transfer it", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the metal head microphone and pass it to another hand", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Pick the metal head microphone from the surface and switch hands.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Grip the metal head microphone and pass it to the other side", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Secure the metal head microphone from the table and transfer it.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the black and white microphone and pass it across.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the handheld microphone and pass it across.", + "Grab the compact size microphone and transfer it to another hand", + "Seize the metal head microphone and offer it to the other arm", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Take the microphone with cylindrical handle and pass it to another hand" + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode124.json b/handover_mic/franka_randomized_500/instructions/episode124.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4c09f5bdf3a5f8eb8f3c1a8819fce1ef5b82c4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode124.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the handheld microphone and shift it to the other arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the microphone for voice recording and hand it to someone else.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grab the microphone for voice recording and transfer it to another hand", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the metal head microphone and deliver it to another side.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone for voice recording and hand it to someone else.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Take the microphone for voice recording and pass it to another hand", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Pick up the black and white microphone and move it to the opposite side", + "Pick the compact size microphone and transfer it to the other arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grip the microphone for voice recording and pass it to the other side", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the compact size microphone and shift it to the other arm.", + "Use one hand to grab the compact size microphone and pass it.", + "Seize the microphone with textured metal head and offer it to the other arm" + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode125.json b/handover_mic/franka_randomized_500/instructions/episode125.json new file mode 100644 index 0000000000000000000000000000000000000000..41a500ccf6a22fa27fe9af5c53f3c094e7e7c93e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode125.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium microphone with two-tone color and pass it across.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick up the dark blue microphone and hand it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Secure the round head microphone using one arm and transfer it.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick up the round head microphone and move it to the opposite side", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grip the audio microphone with soft covering and pass it to the other side", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick the dark blue microphone from the surface and switch hands.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the round head microphone and switch it to another hand.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Take the round head microphone and move it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode126.json b/handover_mic/franka_randomized_500/instructions/episode126.json new file mode 100644 index 0000000000000000000000000000000000000000..8cad2454f48f326edaf6eef9c2708ecbf8813ac4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode126.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the teal microphone securely and shift it to another arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Take the rounded white tip microphone and move it to another hand.", + "Reach for the textured white microphone head and move it to the other hand.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Take the rounded white tip microphone and pass it to another hand", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Seize the teal microphone and offer it to the other arm", + "Lift the microphone with slider switch and deliver it to the other side.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the textured white microphone head and pass it across.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grasp the teal microphone and shift it to the opposite hand.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Grasp the teal microphone and pass it across.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grip the teal microphone and pass it to the other side", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to another hand.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Secure the rounded white tip microphone from the table and transfer it.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Grip the white and teal sound microphone and pass it to the other side", + "Hold the microphone with slider switch securely and shift it to another arm." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode128.json b/handover_mic/franka_randomized_500/instructions/episode128.json new file mode 100644 index 0000000000000000000000000000000000000000..f7671bd0056883f3e6faef29d407af4053e47a25 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode128.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the small audio microphone using one arm and transfer it.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grip the small audio microphone and pass it to the other side", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the microphone for recording sound and pass it across.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Reach for the round head microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the small audio microphone and pass it across.", + "Grab the small audio microphone and give it to the opposite arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Grab the round head microphone and transfer it to another hand", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the round head microphone and hand it to someone else.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the small audio microphone and pass it across.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the audio microphone with soft covering and pass it across.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the microphone covered with foam tip, shift it, and release it to the other side." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode129.json b/handover_mic/franka_randomized_500/instructions/episode129.json new file mode 100644 index 0000000000000000000000000000000000000000..c20461889dc1ce4636581cc09c03e327b1982625 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode129.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small audio microphone and transfer it to another hand", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Take the microphone with round foam head and pass it to another hand", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the dark blue microphone and pass it across.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Take the microphone for recording sound and move it to the other hand.", + "Grip the dark blue microphone and pass it to the other side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Grasp the round head microphone and switch it to another hand.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the gray and dark blue microphone and pass it to another hand", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip and move it to another hand." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode131.json b/handover_mic/franka_randomized_500/instructions/episode131.json new file mode 100644 index 0000000000000000000000000000000000000000..1b097c274578f3460ba705b391f32aa3377757e7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode131.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Reach for the teal microphone and move it to the other hand.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the microphone with white rounded head and move it to another hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Lift the handheld teal microphone and pass it across.", + "Grasp the white and teal sound microphone and pass it across.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the teal microphone and hand it to someone else.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Pick up the teal microphone and move it to the opposite side", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Lift the teal microphone and pass it across.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Hold the handheld teal microphone and deliver it to another side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grab the handheld teal microphone and transfer it to another hand", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode133.json b/handover_mic/franka_randomized_500/instructions/episode133.json new file mode 100644 index 0000000000000000000000000000000000000000..f29aef54926930e7e4d85a6af81505fbcd1748d6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode133.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the small audio microphone and deliver it to another side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the round head microphone from the surface and switch hands.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head and move it to another hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the round head microphone and shift it to the other arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Take the round head microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Pick the dark blue microphone from the surface and switch hands.", + "Reach for the microphone with round foam head and move it to the other hand." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode134.json b/handover_mic/franka_randomized_500/instructions/episode134.json new file mode 100644 index 0000000000000000000000000000000000000000..fa0eb5108be4bf69f2d0957e26580de3c1998cb1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode134.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the handheld microphone and deliver it to another side.", + "Pick up the black and white microphone and hand it to the other side.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Take the black and white microphone and move it to another hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Seize the metal head microphone and offer it to the other arm", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Secure the black and white microphone using one arm and transfer it.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Lift the black and white microphone and hand it to someone else.", + "Take the black and white microphone and move it to the other hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Lift the microphone with textured metal head and pass it across.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick up the metal head microphone and hand it to the other side.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick the black and white microphone from the surface and switch hands.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the metal head microphone and shift it to the other arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the handheld microphone and pass it across.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Reach for the compact size microphone and move it to the other hand.", + "Take the metal head microphone and pass it to another hand", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the black and white microphone and hand it to someone else.", + "Take the metal head microphone and move it to the other hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the compact size microphone and pass it across.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the metal head microphone securely and shift it to another arm.", + "Hold the handheld microphone with one hand and transfer it", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick up the microphone with textured metal head and move it to the opposite side" + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode135.json b/handover_mic/franka_randomized_500/instructions/episode135.json new file mode 100644 index 0000000000000000000000000000000000000000..66581e61c309dbd513a4b17ae3389430b0348671 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode135.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the textured white microphone head and hand it over to the other side.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the textured white microphone head and pass it across.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it to someone else.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grasp the teal microphone and switch it to another hand.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Lift the textured white microphone head, then pass it across without delay.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grip the white and teal sound microphone and pass it to the other side", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Lift the teal microphone and pass it across.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grab the rounded white tip microphone and transfer it to another hand", + "Pick up the teal microphone and transfer it to the opposite side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grab the teal microphone and give it to the opposite arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode136.json b/handover_mic/franka_randomized_500/instructions/episode136.json new file mode 100644 index 0000000000000000000000000000000000000000..61f684245bd61a96c1375f3362abcb4ca96cdafe --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode136.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the round head microphone and pass it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the small audio microphone and pass it across.", + "Take the round head microphone and move it to another hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone with round foam head and move it to the other hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the round head microphone and pass it across.", + "Take the microphone for recording sound and move it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the microphone with round foam head and pass it across.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side" + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode137.json b/handover_mic/franka_randomized_500/instructions/episode137.json new file mode 100644 index 0000000000000000000000000000000000000000..02b2fba180658ac574f739abbad446c4fa3c2e09 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode137.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Grab the round head microphone and give it to the opposite arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick up the small audio microphone and hand it to the other side.", + "Secure the small audio microphone using one arm and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the microphone with round foam head and pass it across.", + "Hold the small audio microphone securely and shift it to another arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the small audio microphone and pass it across.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone with dark blue padding and pass it to another hand", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the dark blue microphone and shift it to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode138.json b/handover_mic/franka_randomized_500/instructions/episode138.json new file mode 100644 index 0000000000000000000000000000000000000000..948d053986d486e7ce8ab4e28d9dc29004378483 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode138.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the metal head microphone and hand it over to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body and pass it to another hand", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the white microphone handle black accents and deliver it to another side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the compact size microphone, then pass it across without delay.", + "Hold the handheld microphone and shift it to the other arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the microphone for voice recording and hand it to someone else.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Pick the black and white microphone and transfer it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick up the black and white microphone and hand it to the other side.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the black and white microphone and pass it across.", + "Take the microphone with textured metal head and move it to another hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grip the metal head microphone and pass it to the other side", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the microphone for voice recording and deliver it to another side.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the compact size microphone, then pass it across without delay.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the black and white microphone securely and shift it to another arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grab the handheld microphone and transfer it to another hand", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the handheld microphone and pass it across.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Grasp the handheld microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode139.json b/handover_mic/franka_randomized_500/instructions/episode139.json new file mode 100644 index 0000000000000000000000000000000000000000..069f2e6d847eccc30bf748b0be31d270899cb6ee --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode139.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the audio microphone with soft covering and pass it to another hand", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Take the microphone with round foam head and move it to the other hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the round head microphone and move it to the opposite side", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use one hand to grab the round head microphone and pass it.", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the microphone with round foam head and move it to the other hand.", + "Seize the round head microphone and offer it to the other arm", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the microphone with dark blue padding and pass it to another hand" + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode140.json b/handover_mic/franka_randomized_500/instructions/episode140.json new file mode 100644 index 0000000000000000000000000000000000000000..382b6d157d042eba0a249766da0aecc5371e0ad5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode140.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the smooth plastic microphone handle and pass it across.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grab the compact size microphone and transfer it to another hand", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the handheld microphone and hand it to someone else.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Seize the microphone for voice recording and offer it to the other arm", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the metal head microphone and deliver it to another side.", + "Take the white microphone handle black accents and move it to another hand.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Secure the microphone for voice recording from the table and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the metal head microphone, then give it to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the microphone with textured metal head and pass it across.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grab the microphone for voice recording and transfer it to another hand", + "Pick the compact size microphone from the surface and switch hands.", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the metal head microphone and hand it to someone else.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone for voice recording and move it to another hand.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side" + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode141.json b/handover_mic/franka_randomized_500/instructions/episode141.json new file mode 100644 index 0000000000000000000000000000000000000000..9b4c2255bb248f552d7b701cb1e0d9e158cda9bb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode141.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the small audio microphone and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Reach for the round head microphone and move it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone for recording sound and pass it to another hand", + "Seize the round head microphone and offer it to the other arm", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the small audio microphone and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the small audio microphone and hand it to someone else.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick the round head microphone from the surface and switch hands.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grasp the small audio microphone and pass it across.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the round head microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and hand it to the other side." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode144.json b/handover_mic/franka_randomized_500/instructions/episode144.json new file mode 100644 index 0000000000000000000000000000000000000000..c790323e99d70f0aa1b1356143e2f138750d657f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode144.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the audio microphone with soft covering and pass it across.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the round head microphone and pass it across.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick the round head microphone from the surface and switch hands.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the round head microphone, then pass it across without delay.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the round head microphone and give it to the opposite arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick the small audio microphone from the surface and switch hands.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the dark blue microphone and hand it to someone else.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the dark blue microphone and move it to the opposite side", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone for recording sound and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with dark blue padding with one hand and transfer it" + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode145.json b/handover_mic/franka_randomized_500/instructions/episode145.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5bdbf3b3da38bbf5302959ec4ff6bbfb12b4b5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode145.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the white and teal sound microphone and move it to another hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Take the microphone with white rounded head and move it to the other hand.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Use one hand to grab the teal microphone and pass it.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the textured white microphone head and switch it to another hand.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Take the textured white microphone head and move it to another hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Take the microphone with slider switch and pass it to another hand", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Lift the teal microphone and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Grasp the textured white microphone head and switch it to another hand.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the teal microphone, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Take the rounded white tip microphone and move it to another hand.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Secure the textured white microphone head using one arm and transfer it.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the teal microphone and deliver it to another side." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode146.json b/handover_mic/franka_randomized_500/instructions/episode146.json new file mode 100644 index 0000000000000000000000000000000000000000..dab2cc4d5f3d7d77acc6c5ea6af5cebd1863591f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode146.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grasp the microphone with white rounded head and pass it across.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick up the teal microphone and move it to the opposite side", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Take the sound microphone with teal body and move it to another hand.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Lift the handheld teal microphone and pass it across.", + "Take the sound microphone with teal body and pass it to another hand", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grasp the compact teal and white microphone and pass it across.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick up the teal microphone and move it to the opposite side", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Secure the microphone with slider switch from the table and transfer it.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Take the sound microphone with teal body and move it to another hand.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the compact teal and white microphone and pass it across.", + "Take the microphone with white rounded head and pass it to another hand", + "Hold the teal microphone and pass it to the other hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Seize the textured white microphone head and offer it to the other arm" + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode147.json b/handover_mic/franka_randomized_500/instructions/episode147.json new file mode 100644 index 0000000000000000000000000000000000000000..794eb3714e84b08e963bb35aa05174bce3e229b5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode147.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top and pass it across.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the round head microphone, then pass it across without delay.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the audio microphone with soft covering and pass it across.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grip the small audio microphone and pass it to the other side", + "Grab the round head microphone and transfer it to another hand", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone with round foam head, then pass it across without delay.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Take the microphone covered with foam tip and move it to another hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode148.json b/handover_mic/franka_randomized_500/instructions/episode148.json new file mode 100644 index 0000000000000000000000000000000000000000..7aaa4dcf15f2ed739e1aed2dff4213d0f76a32d3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode148.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the round head microphone and hand it to the other side easily.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grasp the round head microphone and pass it across.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the round head microphone and pass it across.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the microphone with round foam head and pass it across.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode149.json b/handover_mic/franka_randomized_500/instructions/episode149.json new file mode 100644 index 0000000000000000000000000000000000000000..74ced0b45a57a6d411dda29f488511c8a31d8eea --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode149.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Grip the microphone for voice recording and pass it to the other side", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the metal head microphone and transfer it to another hand", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the handheld microphone and pass it across.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the compact size microphone with one hand and transfer it", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the metal head microphone and deliver it to the other side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the compact size microphone and deliver it to another side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grab the compact size microphone and transfer it to another hand", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the handheld microphone with one hand and transfer it", + "Take the black and white microphone and pass it to another hand", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Take the handheld microphone and move it to the other hand.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the handheld microphone and pass it across.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for voice recording and hand it to someone else.", + "Seize the handheld microphone and offer it to the other arm", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the metal head microphone and deliver it to the other side.", + "Use one arm to pick up the microphone for voice recording and give it to the other." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode15.json b/handover_mic/franka_randomized_500/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..af3331db16038f05d953ff8394afb59eb2bce9d4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white microphone handle black accents with one hand and transfer it", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the handheld microphone and move it to the opposite side", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Seize the compact size microphone and offer it to the other arm", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the compact size microphone and pass it across.", + "Grip the compact size microphone and pass it to the other side", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Reach for the metal head microphone and move it to the other hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Take the handheld microphone and pass it to another hand", + "Pick up the microphone for voice recording and move it to the opposite side", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the microphone with textured metal head and pass it across.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the metal head microphone and hand it over to the other side.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grasp the white microphone handle black accents and pass it across.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Take the metal head microphone and pass it to another hand", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Use one hand to grab the black and white microphone and pass it." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode150.json b/handover_mic/franka_randomized_500/instructions/episode150.json new file mode 100644 index 0000000000000000000000000000000000000000..6c0a4da85961368a45c65030d7750032137fd41a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode150.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the handheld microphone and hand it over to the other arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the handheld microphone and hand it over to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the microphone with textured metal head and move it to another hand.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the handheld microphone and pass it across.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the metal head microphone and move it to the opposite side", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use one hand to grab the black and white microphone and pass it.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the black and white microphone, then give it to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the handheld microphone and pass it across.", + "Hold the compact size microphone and shift it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Take the metal head microphone and move it to the other hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the compact size microphone and deliver it to the other side.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the handheld microphone and pass it across.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Take the metal head microphone and pass it to another hand", + "Hold the white microphone handle black accents with one hand and transfer it", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grip the compact size microphone and pass it to the other side", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Use one hand to grab the metal head microphone and pass it.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick the compact size microphone from the surface and switch hands.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the black and white microphone and pass it across.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the compact size microphone and hand it over to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with black tip and white body and switch it to another hand." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode152.json b/handover_mic/franka_randomized_500/instructions/episode152.json new file mode 100644 index 0000000000000000000000000000000000000000..379514b2f0dc7491008f2717dc757f6adea50a48 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode152.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the compact size microphone and pass it across.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the metal head microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the black and white microphone and transfer it to another hand", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the metal head microphone and pass it to another hand", + "Lift the microphone with textured metal head and hand it to someone else.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the white microphone handle black accents and move it to the other hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grasp the handheld microphone and pass it across.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the handheld microphone and deliver it to another side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the black and white microphone and pass it to another hand", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the compact size microphone, then give it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the black and white microphone with one hand and transfer it", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the metal head microphone and pass it across." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode153.json b/handover_mic/franka_randomized_500/instructions/episode153.json new file mode 100644 index 0000000000000000000000000000000000000000..b80a5b8a05307835a9db1c13c1a0b75ed160f31c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode153.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the black and white microphone with one hand and transfer it", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Hold the black and white microphone securely and shift it to another arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the metal head microphone from the table and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the black and white microphone and hand it over to the other side.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Seize the black and white microphone and offer it to the other arm", + "Take the smooth plastic microphone handle and move it to another hand.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the handheld microphone with one hand and transfer it", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the handheld microphone, then pass it across without delay.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Lift the microphone with textured metal head and pass it across.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Pick up the black and white microphone and hand it to the other side.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Take the compact size microphone and move it to another hand.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Secure the black and white microphone using one arm and transfer it.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the handheld microphone and switch it to another hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grip the microphone with textured metal head and pass it to the other side" + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode154.json b/handover_mic/franka_randomized_500/instructions/episode154.json new file mode 100644 index 0000000000000000000000000000000000000000..13ddcef44ca9711c5fd8b9caf3c2fd992998a205 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode154.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with white rounded head and shift it to the other arm.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Lift the textured white microphone head, then pass it across without delay.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Seize the textured white microphone head and offer it to the other arm", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the textured white microphone head and pass it across.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Take the microphone with white rounded head and move it to the other hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grasp the microphone with slider switch and pass it across.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Hold the textured white microphone head and pass it to the other hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Grip the teal microphone and pass it to the other side", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the textured white microphone head and hand it over to the other arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the handheld teal microphone and pass it across.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Hold the teal microphone securely and shift it to another arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Hold the teal microphone with one hand and transfer it", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Pick up the teal microphone and hand it to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Grasp the teal microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode155.json b/handover_mic/franka_randomized_500/instructions/episode155.json new file mode 100644 index 0000000000000000000000000000000000000000..c070be398bd52621b88141804368213074bfc169 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode155.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Take the handheld microphone and move it to the other hand.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the metal head microphone and hand it over to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Reach for the metal head microphone and move it to the other hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grab the microphone for voice recording and transfer it to another hand", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Secure the black and white microphone using one arm and transfer it.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the handheld microphone and pass it across.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Take the black and white microphone and move it to another hand.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Use one hand to grab the metal head microphone and pass it.", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Seize the metal head microphone and offer it to the other arm", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Take the compact size microphone and pass it to another hand", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and pass it across.", + "Grasp the handheld microphone and pass it across.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the black and white microphone and hand it over to the other side." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode156.json b/handover_mic/franka_randomized_500/instructions/episode156.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee01e05c4be05772c189f1cb69174aadf1728c8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode156.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Use one hand to grab the small audio microphone and pass it.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the round head microphone and shift it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the gray and dark blue microphone and pass it to another hand", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grip the dark blue microphone and pass it to the other side", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Pick the round head microphone from the surface and switch hands.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Take the microphone with round foam head and move it to another hand.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode157.json b/handover_mic/franka_randomized_500/instructions/episode157.json new file mode 100644 index 0000000000000000000000000000000000000000..4f13ae77ae3b820e78a2aee291ba8cccb4d57e7b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode157.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the round head microphone and transfer it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the microphone for recording sound and pass it across.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grip the small audio microphone and pass it to the other side", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the microphone with dark blue padding and pass it across.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the microphone with smooth gray stem and pass it across.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode158.json b/handover_mic/franka_randomized_500/instructions/episode158.json new file mode 100644 index 0000000000000000000000000000000000000000..540cb220afb6f13c2356190abeb44918d0c70b14 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode158.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Take the microphone with textured metal head and pass it to another hand", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Take the white microphone handle black accents and move it to the other hand.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the compact size microphone and pass it across.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Grip the handheld microphone and pass it to the other side", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the handheld microphone and deliver it to another side.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the metal head microphone, then give it to the other arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Lift the metal head microphone and hand it to someone else.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Take the handheld microphone and pass it to another hand", + "Pick up the black and white microphone and move it to the opposite side", + "Hold the metal head microphone securely and shift it to another arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the metal head microphone and hand it over to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grip the black and white microphone and pass it to the other side", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Take the compact size microphone and move it to another hand.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use one hand to grab the compact size microphone and pass it.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode16.json b/handover_mic/franka_randomized_500/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..134a9ece26ace20b7362bb7cedff509aa1453b02 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rounded white tip microphone and pass it across.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Take the handheld teal microphone and move it to another hand.", + "Secure the handheld teal microphone from the table and transfer it.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Take the white and teal sound microphone and pass it to another hand", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Hold the textured white microphone head and shift it to the other arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grab the microphone with slider switch and transfer it to another hand", + "Hold the microphone with slider switch with one hand and transfer it", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the microphone with white rounded head and move it to the other hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grip the teal microphone and pass it to the other side", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the textured white microphone head and pass it across.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Lift the microphone with slider switch and pass it across.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Take the handheld teal microphone and pass it to another hand", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Secure the teal microphone using one arm and transfer it.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick the teal microphone from the surface and switch hands.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the rounded white tip microphone with one hand and transfer it", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Hold the teal microphone and pass it to the other hand.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Take the textured white microphone head and move it to another hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode161.json b/handover_mic/franka_randomized_500/instructions/episode161.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8dac5ac0bc36eff85e105b27a426403e5c77f2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode161.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Take the microphone with slider switch and move it to the other hand.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head and pass it across.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Secure the teal microphone from the table and transfer it.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the microphone with white rounded head and pass it across.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Take the textured white microphone head and pass it to another hand", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the textured white microphone head and move it to the other hand.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the teal microphone and pass it across.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Grab the handheld teal microphone and transfer it to another hand", + "Reach for the handheld teal microphone and move it to the other hand.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Secure the handheld teal microphone from the table and transfer it.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the teal microphone and pass it across.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip and pass it to the other hand." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode162.json b/handover_mic/franka_randomized_500/instructions/episode162.json new file mode 100644 index 0000000000000000000000000000000000000000..065929709bc45876f0ef52a5a7eec7d1a41b9623 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode162.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grasp the small audio microphone and pass it across.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the round head microphone and pass it to another hand", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the microphone with round foam head and transfer it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Pick the round head microphone from the surface and switch hands.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the small audio microphone and switch it to another hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the small audio microphone with one hand and transfer it", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the round head microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Pick up the dark blue microphone and hand it to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode163.json b/handover_mic/franka_randomized_500/instructions/episode163.json new file mode 100644 index 0000000000000000000000000000000000000000..25988b2212bc3717b8283941ed5b7ed818d0414f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode163.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the handheld teal microphone and pass it across.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Secure the microphone with slider switch from the table and transfer it.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Reach for the teal microphone and move it to the other hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grasp the textured white microphone head and pass it across.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Seize the textured white microphone head and offer it to the other arm", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Hold the teal microphone and pass it to the other hand.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Take the microphone with slider switch and move it to another hand.", + "Take the white and teal sound microphone and move it to the other hand.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Lift the teal microphone and hand it to someone else.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the teal microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grasp the compact teal and white microphone and pass it across.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Grip the teal microphone and pass it to the other side", + "Hold the handheld teal microphone with one hand and transfer it", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the teal microphone, then pass it across without delay.", + "Take the compact teal and white microphone and move it to another hand.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Lift the compact teal and white microphone and pass it across.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grasp the textured white microphone head and shift it to the opposite hand." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode164.json b/handover_mic/franka_randomized_500/instructions/episode164.json new file mode 100644 index 0000000000000000000000000000000000000000..bc4619faced9b017a3d8a1198cb719b80c55d16a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode164.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the teal microphone and hand it over to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Lift the textured white microphone head and deliver it to the other side.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Grasp the white and teal sound microphone and pass it across.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the textured white microphone head and pass it across.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the textured white microphone head and move it to the other hand.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Pick up the teal microphone and transfer it to the opposite side.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Secure the textured white microphone head using one arm and transfer it.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Hold the textured white microphone head and deliver it to another side.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the handheld teal microphone and pass it across.", + "Pick up the teal microphone and move it to the opposite side", + "Grab the sound microphone with teal body and transfer it to another hand", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Secure the microphone with slider switch from the table and transfer it.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Grip the textured white microphone head and pass it to the other side", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the white and teal sound microphone and move it to another hand.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Reach for the teal microphone and move it to the other hand.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Hold the textured white microphone head and deliver it to another side.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode165.json b/handover_mic/franka_randomized_500/instructions/episode165.json new file mode 100644 index 0000000000000000000000000000000000000000..ef32e03abd07c40f20ab45ebcf4b71ebfe12b3fc --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode165.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for recording sound and pass it across.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the round head microphone and pass it across.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Secure the dark blue microphone using one arm and transfer it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick up the round head microphone and move it to the opposite side", + "Hold the round head microphone and shift it to the other arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the small audio microphone and deliver it to the other side.", + "Grasp the audio microphone with soft covering and pass it across.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Secure the small audio microphone using one arm and transfer it.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the round head microphone and shift it to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode166.json b/handover_mic/franka_randomized_500/instructions/episode166.json new file mode 100644 index 0000000000000000000000000000000000000000..31759df95f2169a0b0e485d33d5fa1a6818ddbf9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode166.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the dark blue microphone and pass it to the other hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone for recording sound and deliver it to another side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the microphone with round foam head and hand it to someone else.", + "Use the left arm to grab the round head microphone and transfer it to the right arm." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode167.json b/handover_mic/franka_randomized_500/instructions/episode167.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a2156c66da709023bd4ad30fbda1b7f3fa76a5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode167.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the microphone with round foam head and move it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the dark blue microphone and move it to the other hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Lift the medium microphone with two-tone color and pass it across.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the dark blue microphone and move it to another hand.", + "Take the microphone with dark blue padding and pass it to another hand", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the small audio microphone and pass it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side" + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode168.json b/handover_mic/franka_randomized_500/instructions/episode168.json new file mode 100644 index 0000000000000000000000000000000000000000..27c03f7c3959c7ed62840e852bb42ea9856967a6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode168.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the teal microphone and hand it to the other side easily.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the textured white microphone head and pass it to another hand", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the microphone with white rounded head and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Secure the teal microphone from the table and transfer it.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Grab the handheld teal microphone and transfer it to another hand", + "Pick up the textured white microphone head and move it to the opposite side", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Take the teal microphone and move it to another hand.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Use one hand to grab the teal microphone and pass it.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grasp the white and teal sound microphone and pass it across.", + "Take the compact teal and white microphone and pass it to another hand", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the teal microphone and pass it across.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the teal microphone, shift it, and release it to the other side.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Pick up the microphone with slider switch and move it to the opposite side", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Hold the teal microphone securely and shift it to another arm.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode169.json b/handover_mic/franka_randomized_500/instructions/episode169.json new file mode 100644 index 0000000000000000000000000000000000000000..4cee01f8dc5ed674454cc61be269a9e3130dc630 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode169.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone for voice recording and offer it to the other arm", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the compact size microphone and hand it to someone else.", + "Lift the black and white microphone and deliver it to the other side.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grasp the handheld microphone and pass it across.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grab the compact size microphone and transfer it to another hand", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Seize the black and white microphone and offer it to the other arm", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Grasp the handheld microphone and pass it across.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Hold the compact size microphone with one hand and transfer it", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Take the handheld microphone and move it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use one hand to grab the compact size microphone and pass it.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the black and white microphone, then pass it across without delay.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the handheld microphone and hand it over to the other arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the compact size microphone and pass it across.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode17.json b/handover_mic/franka_randomized_500/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..ed287d30f8ee6528dd3415206a7d38c0718ec66b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone and hand it over to the other side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Pick up the small audio microphone and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the round head microphone and move it to another hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color and hand it to someone else." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode170.json b/handover_mic/franka_randomized_500/instructions/episode170.json new file mode 100644 index 0000000000000000000000000000000000000000..ccfd6f90a272352db54ad9801a6b78c33add5b8a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode170.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark blue microphone and give it to the opposite arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and pass it across.", + "Seize the round head microphone and offer it to the other arm", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the dark blue microphone and pass it to another hand", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the round head microphone and move it to another hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and pass it across.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Hold the round head microphone and shift it to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone with round foam head and pass it across.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the small audio microphone and deliver it to another side.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Reach for the round head microphone and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode171.json b/handover_mic/franka_randomized_500/instructions/episode171.json new file mode 100644 index 0000000000000000000000000000000000000000..a94d9407233d0cd515e8523556f14a6b47e3191e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode171.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the handheld microphone and move it to the other hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grasp the black and white microphone and switch it to another hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grab the black and white microphone and give it to the opposite arm.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grasp the handheld microphone and pass it across.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Grip the microphone with textured metal head and pass it to the other side", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with black tip and white body and move it to another hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the metal head microphone and move it to the other hand.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the handheld microphone and pass it to another hand", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grip the compact size microphone and pass it to the other side", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grab the microphone for voice recording and transfer it to another hand", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Secure the compact size microphone from the table and transfer it.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the metal head microphone with one hand and transfer it", + "Take the microphone for voice recording and move it to the other hand.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Reach for the metal head microphone and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Take the compact size microphone and pass it to another hand" + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode172.json b/handover_mic/franka_randomized_500/instructions/episode172.json new file mode 100644 index 0000000000000000000000000000000000000000..2b46bdc784d39dca519b870d981f9d0c61e384d1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode172.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Take the compact size microphone and pass it to another hand", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the black and white microphone and pass it across.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the metal head microphone and hand it to someone else.", + "Grab the black and white microphone and transfer it to another hand", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Lift the compact size microphone, then pass it across without delay.", + "Grip the metal head microphone and pass it to the other side", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the compact size microphone and pass it to another hand", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the metal head microphone and hand it over to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the metal head microphone securely and shift it to another arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the metal head microphone and move it to another hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the metal head microphone and hand it to someone else.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grip the black and white microphone and pass it to the other side", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the metal head microphone and pass it across.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Take the metal head microphone and move it to the other hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the compact size microphone with one hand and transfer it", + "Take the mesh-patterned microphone head and pass it to another hand", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and pass it across." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode173.json b/handover_mic/franka_randomized_500/instructions/episode173.json new file mode 100644 index 0000000000000000000000000000000000000000..623af19c9f665ad77ab0351a2d4978a60aea2855 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode173.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the metal head microphone and transfer it to the other arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the handheld microphone, then give it to the other arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and pass it across.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Seize the white microphone handle black accents and offer it to the other arm", + "Take the metal head microphone and move it to another hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the compact size microphone and shift it to the other arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Secure the metal head microphone from the table and transfer it.", + "Take the handheld microphone and move it to the other hand.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Hold the black and white microphone securely and shift it to another arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it over to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Pick the handheld microphone and transfer it to the other arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Lift the handheld microphone and hand it to someone else.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the black and white microphone and deliver it to the other side.", + "Hold the black and white microphone and deliver it to another side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grab the compact size microphone and give it to the opposite arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the microphone for voice recording and move it to the other hand.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the handheld microphone and deliver it to another side." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode174.json b/handover_mic/franka_randomized_500/instructions/episode174.json new file mode 100644 index 0000000000000000000000000000000000000000..81addb7be67d725f0e48f48375fca3096c6f58c2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode174.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Seize the small audio microphone and offer it to the other arm", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the round head microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the round head microphone and pass it across.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the round head microphone and deliver it to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode175.json b/handover_mic/franka_randomized_500/instructions/episode175.json new file mode 100644 index 0000000000000000000000000000000000000000..df34b5aa7b68b612e071b3724b5a633e7e705d13 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode175.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the round head microphone and give it to the opposite arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick up the dark blue microphone and hand it to the other side.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the round head microphone and move it to the other hand.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick the round head microphone and transfer it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Secure the round head microphone from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the small audio microphone and pass it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode176.json b/handover_mic/franka_randomized_500/instructions/episode176.json new file mode 100644 index 0000000000000000000000000000000000000000..b09ac6cec2b31b8e4d8bb5ddd70dc709f7668439 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode176.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Seize the compact size microphone and offer it to the other arm", + "Take the compact size microphone and move it to another hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grip the handheld microphone and pass it to the other side", + "Lift the handheld microphone and hand it to someone else.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Seize the metal head microphone and offer it to the other arm", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the black and white microphone and pass it across.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grab the handheld microphone and transfer it to another hand", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Use one hand to grab the compact size microphone and pass it.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick up the black and white microphone and hand it to the other side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the handheld microphone and shift it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the microphone with black tip and white body and pass it to another hand", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the black and white microphone and move it to another hand.", + "Lift the microphone with black tip and white body and pass it across.", + "Grasp the microphone with textured metal head and pass it across." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode177.json b/handover_mic/franka_randomized_500/instructions/episode177.json new file mode 100644 index 0000000000000000000000000000000000000000..c0825a822c12a890cff1b8b09b3eb581773ef2fa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode177.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Take the black and white microphone and pass it to another hand", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grip the compact size microphone and pass it to the other side", + "Take the microphone with textured metal head and move it to another hand.", + "Take the handheld microphone and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Pick the metal head microphone from the surface and switch hands.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the microphone with cylindrical handle and pass it across.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the metal head microphone with one hand and transfer it", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the compact size microphone and pass it to another hand", + "Pick up the handheld microphone and hand it to the other side.", + "Grasp the compact size microphone and switch it to another hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Grip the compact size microphone and pass it to the other side", + "Take the microphone with textured metal head and move it to another hand.", + "Take the black and white microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the compact size microphone and hand it to someone else.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use one hand to grab the compact size microphone and pass it.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Secure the compact size microphone from the table and transfer it.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Lift the white microphone handle black accents and pass it across.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grip the microphone with cylindrical handle and pass it to the other side" + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode179.json b/handover_mic/franka_randomized_500/instructions/episode179.json new file mode 100644 index 0000000000000000000000000000000000000000..062f2b97bdba1e2bf4115f5bea568abf16558095 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode179.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Take the microphone with slider switch and move it to another hand.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Lift the textured white microphone head and hand it over to the other side.", + "Pick up the textured white microphone head and move it to the opposite side", + "Secure the handheld teal microphone from the table and transfer it.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the microphone with white rounded head and move it to the other hand.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grab the microphone with slider switch and transfer it to another hand", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the teal microphone and deliver it to another side.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Lift the microphone with slider switch and hand it over to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Secure the microphone with white rounded head from the table and transfer it.", + "Secure the textured white microphone head using one arm and transfer it.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Lift the handheld teal microphone and pass it across.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Grab the handheld teal microphone and give it to the opposite arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode18.json b/handover_mic/franka_randomized_500/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..d8870ad0d650ec006e0dd562dae1c5d95e5f7a11 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the handheld microphone and pass it to the other side", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Grasp the black and white microphone and pass it across.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the compact size microphone with one hand and transfer it", + "Take the microphone with cylindrical handle and move it to another hand.", + "Hold the compact size microphone and deliver it to another side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Seize the handheld microphone and offer it to the other arm", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the compact size microphone, then pass it across without delay.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the microphone with textured metal head and pass it across.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the mesh-patterned microphone head and move it to another hand.", + "Hold the handheld microphone and deliver it to another side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Pick up the metal head microphone and move it to the opposite side", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grip the white microphone handle black accents and pass it to the other side", + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the handheld microphone and pass it to the other hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode180.json b/handover_mic/franka_randomized_500/instructions/episode180.json new file mode 100644 index 0000000000000000000000000000000000000000..4fda379d586256e12d52e7ec81d24c64b9ee15a6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode180.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the teal microphone securely and shift it to another arm.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Take the microphone with white rounded head and move it to the other hand.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the white and teal sound microphone and pass it across.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Hold the handheld teal microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grab the microphone with slider switch and transfer it to another hand", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the teal microphone and pass it to the other hand.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Grab the teal microphone and give it to the opposite arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the compact teal and white microphone and move it to the other hand.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grasp the rounded white tip microphone and pass it across.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Seize the microphone with slider switch and offer it to the other arm", + "Hold the teal microphone and shift it to the other arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Take the textured white microphone head using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode181.json b/handover_mic/franka_randomized_500/instructions/episode181.json new file mode 100644 index 0000000000000000000000000000000000000000..c3fb0558692046ac32201f8a757cea2695f8c726 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode181.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grab the black and white microphone and transfer it to another hand", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Secure the metal head microphone from the table and transfer it.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Grasp the handheld microphone and pass it across.", + "Lift the black and white microphone and pass it across.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the compact size microphone and pass it to another hand", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Seize the handheld microphone and offer it to the other arm", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Take the black and white microphone and move it to the other hand.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode182.json b/handover_mic/franka_randomized_500/instructions/episode182.json new file mode 100644 index 0000000000000000000000000000000000000000..a762379fc4830c5af4e531980c5d372b98dbba03 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode182.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the rounded white tip microphone and move it to the other hand.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Lift the handheld teal microphone and pass it across.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Take the teal microphone and pass it to another hand", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the plastic teal microphone with slider and pass it across.", + "Hold the microphone with slider switch with one hand and transfer it", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the rounded white tip microphone and pass it across.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Take the teal microphone and move it to another hand.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Lift the teal microphone and hand it over to the other side.", + "Hold the textured white microphone head and pass it to the other hand.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the textured white microphone head and transfer it to another hand", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Lift the white and teal sound microphone and pass it across.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Lift the textured white microphone head and hand it to someone else.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Hold the compact teal and white microphone and deliver it to another side." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode184.json b/handover_mic/franka_randomized_500/instructions/episode184.json new file mode 100644 index 0000000000000000000000000000000000000000..95e770d9001fcf5562882659167f3149229cd2e4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode184.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the plastic teal microphone with slider and pass it to the other side", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Take the white and teal sound microphone and move it to the other hand.", + "Grab the teal microphone and transfer it to another hand", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Grasp the teal microphone and switch it to another hand.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Lift the handheld teal microphone and pass it across.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Secure the textured white microphone head from the table and transfer it.", + "Take the handheld teal microphone and move it to another hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Take the textured white microphone head and pass it to another hand", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Pick up the teal microphone and hand it to the other side.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Hold the teal microphone with one hand and transfer it", + "Take the rounded white tip microphone and move it to the other hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the white bottom microphone with textured tip and pass it across.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grasp the teal microphone and pass it across.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Take the teal microphone and move it to the other hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode185.json b/handover_mic/franka_randomized_500/instructions/episode185.json new file mode 100644 index 0000000000000000000000000000000000000000..a7e56c93d98be0146a153857639e74dbe286e307 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode185.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the black and white microphone and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the black and white microphone with one hand and transfer it", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the compact size microphone and pass it to the other hand.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the metal head microphone and switch it to another hand.", + "Grasp the microphone for voice recording and pass it across.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Lift the black and white microphone and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grip the white microphone handle black accents and pass it to the other side", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the compact size microphone and pass it to the other hand.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Grab the metal head microphone and transfer it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the microphone with textured metal head and pass it across.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode186.json b/handover_mic/franka_randomized_500/instructions/episode186.json new file mode 100644 index 0000000000000000000000000000000000000000..47cf507eb3d365d3acf4c19f9a49fc4297bc0082 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode186.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the metal head microphone and offer it to the other arm", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the metal head microphone from the table and transfer it.", + "Pick up the metal head microphone and hand it to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the black and white microphone and pass it to the other hand.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Grasp the metal head microphone and switch it to another hand.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Lift the microphone with textured metal head and pass it across.", + "Pick the metal head microphone and transfer it to the other arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Take the metal head microphone and pass it to another hand", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Seize the black and white microphone and offer it to the other arm", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the metal head microphone and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grip the compact size microphone and pass it to the other side", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the handheld microphone and pass it across.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Pick up the black and white microphone and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the handheld microphone and move it to another hand.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Use one hand to grab the compact size microphone and pass it." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode187.json b/handover_mic/franka_randomized_500/instructions/episode187.json new file mode 100644 index 0000000000000000000000000000000000000000..39f66a52b3dfdbf489e087a1385edce911d3bbd0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode187.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the compact size microphone and pass it to another hand", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Pick up the metal head microphone and move it to the opposite side", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the compact size microphone and deliver it to another side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the metal head microphone and pass it across.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the microphone for voice recording with one hand and transfer it", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grasp the microphone for voice recording and pass it across.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Use one hand to grab the black and white microphone and pass it.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Hold the microphone for voice recording with one hand and transfer it", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the compact size microphone and pass it across.", + "Pick up the handheld microphone and hand it to the other side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Take the microphone for voice recording and move it to another hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode19.json b/handover_mic/franka_randomized_500/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..43abe2c37a8bc42d606cbb526ff8e6221cebc35e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Hold the handheld microphone with one hand and transfer it", + "Hold the handheld microphone securely and shift it to another arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grip the metal head microphone and pass it to the other side", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the handheld microphone and pass it across.", + "Take the microphone with black tip and white body and move it to another hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the metal head microphone and hand it over to the other arm.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the microphone for voice recording with one hand and transfer it", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Lift the handheld microphone and pass it across.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Take the handheld microphone and move it to the other hand.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the compact size microphone and pass it to another hand", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick up the compact size microphone and hand it to the other side.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the metal head microphone securely and shift it to another arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the metal head microphone and shift it to the other arm.", + "Hold the handheld microphone and deliver it to another side.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Pick up the metal head microphone and move it to the opposite side" + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode190.json b/handover_mic/franka_randomized_500/instructions/episode190.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe9612ce90ac582e41020e07dc814d63f125239 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode190.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white and teal sound microphone and pass it across.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grab the microphone with white rounded head and transfer it to another hand", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Pick the teal microphone from the surface and switch hands.", + "Grip the teal microphone and pass it to the other side", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the teal microphone and move it to another hand.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the teal microphone and deliver it to another side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Seize the teal microphone and offer it to the other arm", + "Take the microphone with white rounded head and move it to the other hand.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Take the handheld teal microphone and pass it to another hand", + "Reach for the teal microphone and move it to the other hand.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Lift the sound microphone with teal body and pass it across.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grab the handheld teal microphone and transfer it to another hand", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the teal microphone and hand it over to the other side.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grip the handheld teal microphone and pass it to the other side", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the white and teal sound microphone and move it to another hand.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Seize the rounded white tip microphone and offer it to the other arm", + "Take the teal microphone and move it to the other hand.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grasp the teal microphone and switch it to another hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and pass it across.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Take the rounded white tip microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode191.json b/handover_mic/franka_randomized_500/instructions/episode191.json new file mode 100644 index 0000000000000000000000000000000000000000..2d3b3f414ce72b1f5bd7ede98e554d0b96126fb6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode191.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for voice recording and move it to the other hand.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the microphone with black tip and white body and pass it to another hand", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the compact size microphone and deliver it to another side.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the compact size microphone and pass it across.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Lift the black and white microphone and hand it to someone else.", + "Pick the handheld microphone and transfer it to the other arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the handheld microphone and transfer it to another hand", + "Take the black and white microphone and pass it to another hand", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Hold the handheld microphone and deliver it to another side.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the black and white microphone and pass it across.", + "Grab the compact size microphone and give it to the opposite arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grasp the black and white microphone and pass it across.", + "Lift the metal head microphone and hand it to someone else.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Grip the black and white microphone and pass it to the other side", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Seize the handheld microphone and offer it to the other arm", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the metal head microphone and move it to another hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the microphone for voice recording and pass it to another hand" + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode192.json b/handover_mic/franka_randomized_500/instructions/episode192.json new file mode 100644 index 0000000000000000000000000000000000000000..3262a914a26f66f671885ff60344214e3587e572 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode192.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the teal microphone, then give it to the other arm.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the compact teal and white microphone and pass it across.", + "Hold the teal microphone with one hand and transfer it", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Secure the microphone with slider switch from the table and transfer it.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Pick up the textured white microphone head and move it to the opposite side", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Seize the microphone with slider switch and offer it to the other arm", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Take the white and teal sound microphone and pass it to another hand", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the teal microphone and shift it to the opposite hand.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Take the rounded white tip microphone and move it to another hand.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Pick up the microphone with slider switch and move it to the opposite side", + "Reach for the teal microphone and move it to the other hand.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Seize the teal microphone and offer it to the other arm", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode193.json b/handover_mic/franka_randomized_500/instructions/episode193.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc0387d712d896a7a64672e5df1f0ee94e61f91 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode193.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld microphone and smoothly give it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the compact size microphone and move it to the other hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the microphone for voice recording and transfer it to another hand", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Hold the compact size microphone securely and shift it to another arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the microphone for voice recording with one hand and transfer it", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the compact size microphone and move it to the other hand.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to someone else.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use one hand to grab the microphone for voice recording and pass it." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode196.json b/handover_mic/franka_randomized_500/instructions/episode196.json new file mode 100644 index 0000000000000000000000000000000000000000..8405866e1921355d4a482ece0223af8ddb47ea57 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode196.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small audio microphone and move it to another hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the small audio microphone and pass it across.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it over to the other side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the round head microphone and pass it to the other hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Secure the round head microphone from the table and transfer it.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the microphone with dark blue padding and move it to another hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Pick up the microphone with round foam head, pass it to the other arm, and release." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode197.json b/handover_mic/franka_randomized_500/instructions/episode197.json new file mode 100644 index 0000000000000000000000000000000000000000..42734d72cfd22c0e645333ee17748e5411a6f5e8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode197.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Grip the small audio microphone and pass it to the other side", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick the round head microphone and transfer it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick up the small audio microphone and hand it to the other side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the small audio microphone securely and shift it to another arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the round head microphone and deliver it to another side.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the round head microphone and hand it over to the other arm.", + "Secure the audio microphone with soft covering from the table and transfer it." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode199.json b/handover_mic/franka_randomized_500/instructions/episode199.json new file mode 100644 index 0000000000000000000000000000000000000000..e1f06ce0d295deafbccdc9fe0d671fad8a2f558d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode199.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the teal microphone and move it to another hand.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the rounded white tip microphone and pass it across.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the textured white microphone head and switch it to another hand.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Take the rounded white tip microphone and pass it to another hand", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Seize the handheld teal microphone and offer it to the other arm", + "Take the microphone with white rounded head and move it to another hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick the teal microphone and transfer it to the other arm.", + "Reach for the teal microphone and move it to the other hand.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Lift the microphone with slider switch and pass it across.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Lift the teal microphone and hand it over to the other side.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Take the rounded white tip microphone and pass it to another hand", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Hold the teal microphone and pass it to the other hand.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Seize the rounded white tip microphone and offer it to the other arm", + "Take the white and teal sound microphone and move it to another hand.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Use the right arm to grab the teal microphone and transfer it to the left arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode2.json b/handover_mic/franka_randomized_500/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..681f1cd31a11bac2d1d0bf58273eb217b6d3d9e1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone and pass it across.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone with round foam head and pass it across.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Secure the dark blue microphone from the table and transfer it.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the round head microphone and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the round head microphone and deliver it to the other side.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the round head microphone and pass it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grasp the round head microphone and pass it across.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grip the round head microphone and pass it to the other side", + "Hold the round head microphone with one hand and transfer it", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the audio microphone with soft covering firmly and pass it to the other arm." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode20.json b/handover_mic/franka_randomized_500/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..4d22137921f0eded703303aca573cf0e588f178f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Seize the round head microphone and offer it to the other arm", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the microphone with round foam head and hand it over to the other side.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the microphone for recording sound and move it to another hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the microphone for recording sound and move it to another hand.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the microphone with round foam head and pass it across.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grasp the round head microphone and pass it across.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode200.json b/handover_mic/franka_randomized_500/instructions/episode200.json new file mode 100644 index 0000000000000000000000000000000000000000..3f000f81e13a74bc66cac184b713c2bb68045104 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode200.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the small audio microphone with one hand and transfer it", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the round head microphone and move it to the other hand.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick the round head microphone from the surface and switch hands.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the round head microphone and pass it across.", + "Hold the microphone for recording sound and deliver it to another side.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the microphone with round foam head and move it to the other hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the small audio microphone with one hand and transfer it" + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode201.json b/handover_mic/franka_randomized_500/instructions/episode201.json new file mode 100644 index 0000000000000000000000000000000000000000..122843197bbad3bbbbf4584996a5c20a4c255d23 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode201.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the compact size microphone and hand it to the other side easily.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the handheld microphone and move it to the other hand.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the handheld microphone, then pass it across without delay.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it over to the other arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the black and white microphone with one hand and transfer it", + "Take the compact size microphone and move it to the other hand.", + "Lift the microphone for voice recording and pass it across.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Seize the black and white microphone and offer it to the other arm", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grasp the metal head microphone and pass it across.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grip the metal head microphone and pass it to the other side", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the metal head microphone with one hand and transfer it", + "Take the handheld microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the microphone for voice recording, then give it to the other arm." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode202.json b/handover_mic/franka_randomized_500/instructions/episode202.json new file mode 100644 index 0000000000000000000000000000000000000000..b099dd5a6d09caa7be234dafa918d344a097e377 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode202.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the round head microphone and pass it across.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the round head microphone and pass it to the other hand.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the round head microphone with one hand and transfer it", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the microphone for recording sound and pass it to another hand", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grab the small audio microphone and transfer it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode205.json b/handover_mic/franka_randomized_500/instructions/episode205.json new file mode 100644 index 0000000000000000000000000000000000000000..b9afc33de4b7efe0a740bb9eaf1f5901d99240a1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode205.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the round head microphone and move it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the dark blue microphone and move it to another hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Secure the small audio microphone from the table and transfer it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the small audio microphone and switch it to another hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the round head microphone and move it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the dark blue microphone and pass it to another hand", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the small audio microphone and move it to the other hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the small audio microphone and deliver it to another side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode206.json b/handover_mic/franka_randomized_500/instructions/episode206.json new file mode 100644 index 0000000000000000000000000000000000000000..ad03ed3122a7a58c9147b243305db16c5c1deb71 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode206.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Seize the compact teal and white microphone and offer it to the other arm", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Reach for the textured white microphone head and move it to the other hand.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Take the textured white microphone head and pass it to another hand", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Hold the textured white microphone head and pass it to the other hand.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grip the handheld teal microphone and pass it to the other side", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Lift the teal microphone, then pass it across without delay.", + "Lift the textured white microphone head and pass it across.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the microphone with slider switch and move it to the other hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Secure the teal microphone using one arm and transfer it.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode208.json b/handover_mic/franka_randomized_500/instructions/episode208.json new file mode 100644 index 0000000000000000000000000000000000000000..2d082ff316885ab5a40aed1be94502a58d8e9e1b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode208.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the round head microphone and hand it over to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone with round foam head and pass it to another hand", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Take the microphone for recording sound and pass it to another hand", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grab the round head microphone and transfer it to another hand", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the round head microphone, then pass it across without delay.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone with dark blue padding and deliver it to another side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode209.json b/handover_mic/franka_randomized_500/instructions/episode209.json new file mode 100644 index 0000000000000000000000000000000000000000..07404fdddc9d2e0fe2ee41534b35c3562160a89d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode209.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Reach for the teal microphone and move it to the other hand.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the teal microphone, then pass it across without delay.", + "Take the teal microphone and pass it to another hand", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Pick the textured white microphone head from the surface and switch hands.", + "Pick up the teal microphone and hand it to the other side.", + "Lift the compact teal and white microphone and pass it across.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Grab the handheld teal microphone and transfer it to another hand", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the teal microphone and deliver it to the other side.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the microphone with slider switch, then pass it across without delay.", + "Take the handheld teal microphone and pass it to another hand", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Pick the teal microphone from the surface and switch hands.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the microphone with white rounded head and pass it across.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the teal microphone and shift it to the other arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the microphone with white rounded head and pass it across.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Take the microphone with slider switch and move it to another hand.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side" + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode21.json b/handover_mic/franka_randomized_500/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..928c510f206bf491c1beb2cc5abfa3a148fb55c5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone for recording sound and pass it across.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Secure the round head microphone from the table and transfer it.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode210.json b/handover_mic/franka_randomized_500/instructions/episode210.json new file mode 100644 index 0000000000000000000000000000000000000000..cda3e3dff4931817e3dd934ba4d3efb4b5961ada --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode210.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact size microphone and pass it to the other hand.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the microphone for voice recording and transfer it to another hand", + "Secure the handheld microphone using one arm and transfer it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the metal head microphone and hand it over to the other arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Grip the metal head microphone and pass it to the other side", + "Secure the handheld microphone from the table and transfer it.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the metal head microphone and switch it to another hand.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Take the microphone for voice recording and move it to the other hand.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the metal head microphone and transfer it to another hand", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the white microphone handle black accents and pass it to another hand", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grasp the compact size microphone and pass it across.", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Lift the metal head microphone and hand it to someone else.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grip the compact size microphone and pass it to the other side", + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the black and white microphone and pass it across.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Seize the black and white microphone and offer it to the other arm", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grasp the compact size microphone, then give it to the other arm.", + "Take the metal head microphone and move it to another hand.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily." + ], + "unseen": [ + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode211.json b/handover_mic/franka_randomized_500/instructions/episode211.json new file mode 100644 index 0000000000000000000000000000000000000000..b85b6429f5b740c78d8818d4072bd40e0dc98822 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode211.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the textured white microphone head and pass it across.", + "Grip the textured white microphone head and pass it to the other side", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the textured white microphone head and shift it to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Take the microphone with slider switch and pass it to another hand", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Secure the textured white microphone head from the table and transfer it.", + "Pick up the teal microphone and hand it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the microphone with slider switch and hand it to someone else.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the textured white microphone head and pass it across.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the handheld teal microphone and pass it across.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Hold the textured white microphone head and shift it to the other arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Lift the teal microphone and hand it over to the other arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grab the teal microphone and give it to the opposite arm.", + "Take the teal microphone and move it to another hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Grasp the microphone with white rounded head and pass it across.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode212.json b/handover_mic/franka_randomized_500/instructions/episode212.json new file mode 100644 index 0000000000000000000000000000000000000000..60e9f5a9bf65ff0f0e96b749680b9cb89175a4f8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode212.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone for recording sound from the table and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the microphone with round foam head and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the small audio microphone and shift it to the other arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the round head microphone and deliver it to the other side.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the round head microphone and pass it to another hand", + "Use one hand to grab the small audio microphone and pass it.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the microphone for recording sound and deliver it to the other side.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the microphone for recording sound and pass it to another hand", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode213.json b/handover_mic/franka_randomized_500/instructions/episode213.json new file mode 100644 index 0000000000000000000000000000000000000000..9fe89ea47e0f2e361be47db1c663926a5ee1a122 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode213.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Grasp the metal head microphone and pass it across.", + "Hold the black and white microphone and deliver it to another side.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the white microphone handle black accents and pass it across.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Take the microphone for voice recording and move it to another hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Seize the black and white microphone and offer it to the other arm", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it over to the other arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the handheld microphone, then give it to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grip the handheld microphone and pass it to the other side", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Hold the metal head microphone securely and shift it to another arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the handheld microphone and pass it across.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Reach for the handheld microphone and move it to the other hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the black and white microphone, then give it to the other arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the handheld microphone and shift it to the other arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grip the compact size microphone and pass it to the other side", + "Pick the black and white microphone from the surface and switch hands.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode214.json b/handover_mic/franka_randomized_500/instructions/episode214.json new file mode 100644 index 0000000000000000000000000000000000000000..5e396b750f4ea5a8271c2afa182f47b97f740614 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode214.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Lift the teal microphone and hand it over to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Pick up the teal microphone and hand it to the other side.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Hold the teal microphone with one hand and transfer it", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Secure the textured white microphone head using one arm and transfer it.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Grip the sound microphone with teal body and pass it to the other side", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Lift the textured white microphone head and pass it across.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the microphone with white rounded head and move it to the other hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the teal microphone and pass it to the other hand.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Pick up the teal microphone and hand it to the other side.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the textured white microphone head and deliver it to another side.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Pick the textured white microphone head from the surface and switch hands.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the sound microphone with teal body and pass it across.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Grab the white bottom microphone with textured tip and transfer it to another hand" + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode217.json b/handover_mic/franka_randomized_500/instructions/episode217.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb2722476d0a6f655cf1937346dd99e01df0020 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode217.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the small audio microphone and deliver it to another side.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the small audio microphone and shift it to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Take the dark blue microphone and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the round head microphone, then pass it across without delay.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the small audio microphone and hand it over to the other side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the round head microphone and deliver it to the other side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode218.json b/handover_mic/franka_randomized_500/instructions/episode218.json new file mode 100644 index 0000000000000000000000000000000000000000..53a9ad30914a82b473c5ab9e1a8b5425ba56b6e0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode218.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Grasp the textured white microphone head and pass it across.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Seize the microphone with slider switch and offer it to the other arm", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Lift the sound microphone with teal body and pass it across.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the microphone with slider switch and move it to another hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the teal microphone with one hand and transfer it", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the microphone with slider switch and pass it across.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the handheld teal microphone from the table and transfer it.", + "Lift the handheld teal microphone and hand it to someone else.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the teal microphone and move it to another hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Hold the teal microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Pick up the compact teal and white microphone and move it to the opposite side" + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode219.json b/handover_mic/franka_randomized_500/instructions/episode219.json new file mode 100644 index 0000000000000000000000000000000000000000..46651c34ab63e0dc3f9e49be15c8042cc37b6355 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode219.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the textured white microphone head and offer it to the other arm", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Hold the teal microphone and deliver it to another side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Take the textured white microphone head and move it to another hand.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the teal microphone and deliver it to the other side.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grab the teal microphone and transfer it to another hand", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the handheld teal microphone and pass it across.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Hold the textured white microphone head and shift it to the other arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Pick up the microphone with slider switch and hand it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the teal microphone, pass it, and release it to complete the task.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Take the teal microphone and move it to another hand." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode22.json b/handover_mic/franka_randomized_500/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..9f99de4896bc2a242af134c32f8074cd8f06d646 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the handheld teal microphone and hand it to the other side.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the teal microphone and pass it across.", + "Take the teal microphone and move it to another hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the sound microphone with teal body and pass it to another hand", + "Grip the white and teal sound microphone and pass it to the other side", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Secure the handheld teal microphone from the table and transfer it.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Hold the textured white microphone head and pass it to the other hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the microphone with slider switch and pass it across.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Take the microphone with slider switch and move it to the other hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Take the teal microphone and move it to another hand.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Take the textured white microphone head and pass it to another hand", + "Grip the textured white microphone head and pass it to the other side", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Lift the textured white microphone head and hand it over to the other side.", + "Secure the microphone with slider switch from the table and transfer it.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Grasp the microphone with slider switch and pass it across.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the rounded white tip microphone and move it to the other hand.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Lift the microphone with white rounded head and pass it across.", + "Take the microphone with slider switch and move it to another hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Grasp the white and teal sound microphone and switch it to another hand." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode220.json b/handover_mic/franka_randomized_500/instructions/episode220.json new file mode 100644 index 0000000000000000000000000000000000000000..99676495d16f5a5c2df2ea8908cb80dd0e12ae9e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode220.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the handheld microphone and hand it to the other side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Lift the metal head microphone and pass it across.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grip the metal head microphone and pass it to the other side", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Secure the metal head microphone from the table and transfer it.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grab the handheld microphone and transfer it to another hand", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Lift the metal head microphone and pass it across.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the metal head microphone and hand it to someone else.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Hold the compact size microphone securely and shift it to another arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Secure the metal head microphone from the table and transfer it.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Take the microphone with black tip and white body and pass it to another hand", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the metal head microphone and move it to the other hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Hold the compact size microphone with one hand and transfer it", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the metal head microphone and deliver it to another side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the white microphone handle black accents and transfer it to another hand" + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode221.json b/handover_mic/franka_randomized_500/instructions/episode221.json new file mode 100644 index 0000000000000000000000000000000000000000..4327b08d45681eebd5d9dd8155af6b7997dff0e1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode221.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic teal microphone with slider and pass it to another hand", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick up the teal microphone and hand it to the other side.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the white and teal sound microphone and move it to the other hand.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the teal microphone and give it to the opposite arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Lift the textured white microphone head and pass it across.", + "Grip the handheld teal microphone and pass it to the other side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Lift the microphone with slider switch and hand it to someone else.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Secure the microphone with slider switch from the table and transfer it.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick up the microphone with slider switch and hand it to the other side.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Hold the handheld teal microphone and pass it to the other hand.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grasp the teal microphone and switch it to another hand.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grasp the microphone with slider switch and pass it across.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the white and teal sound microphone and pass it across.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Hold the microphone with slider switch and deliver it to another side.", + "Secure the microphone with slider switch from the table and transfer it.", + "Take the compact teal and white microphone and move it to another hand.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the teal microphone and transfer it to another hand", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Take the compact teal and white microphone and pass it to another hand", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Take the microphone with slider switch and move it to the other hand.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode222.json b/handover_mic/franka_randomized_500/instructions/episode222.json new file mode 100644 index 0000000000000000000000000000000000000000..d0fad95166c6437cfd31101ac688c9a597fe32ec --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode222.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Grab the microphone for recording sound and transfer it to another hand", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone and pass it across.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the small audio microphone securely and shift it to another arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the round head microphone and shift it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the dark blue microphone and deliver it to the other side.", + "Secure the round head microphone from the table and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering and pass it across." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode223.json b/handover_mic/franka_randomized_500/instructions/episode223.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee91fb4e04c07ade9a087c844f9653eac4dc6a9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode223.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the dark blue microphone and pass it across.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the round head microphone and shift it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the gray and dark blue microphone and pass it across.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick the round head microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the microphone with round foam head and pass it across.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grasp the microphone for recording sound and shift it to the opposite hand." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode224.json b/handover_mic/franka_randomized_500/instructions/episode224.json new file mode 100644 index 0000000000000000000000000000000000000000..bed247ae960bac806b099868162633d7506046fa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode224.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the rounded white tip microphone and hand it to someone else.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Use one hand to grab the teal microphone and pass it.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grip the microphone with slider switch and pass it to the other side", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the textured white microphone head and deliver it to the other side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the rounded white tip microphone and move it to another hand.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Seize the handheld teal microphone and offer it to the other arm", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Lift the sound microphone with teal body and hand it to someone else.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Grip the textured white microphone head and pass it to the other side", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the teal microphone and pass it across.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Grab the textured white microphone head and transfer it to another hand", + "Take the microphone with slider switch and move it to another hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it to someone else.", + "Hold the handheld teal microphone with the left arm and give it to the right arm." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode226.json b/handover_mic/franka_randomized_500/instructions/episode226.json new file mode 100644 index 0000000000000000000000000000000000000000..b61f507a3d09b7b000b74e8ddf09c6ccb8e1677e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode226.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grab the small audio microphone and transfer it to another hand", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Take the round head microphone and pass it to another hand", + "Pick the round head microphone from the surface and switch hands.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the small audio microphone and hand it to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the round head microphone, then pass it across without delay.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grab the small audio microphone and transfer it to another hand", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Take the dark blue microphone and pass it to another hand", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the round head microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the dark blue microphone and hand it over to the other arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode227.json b/handover_mic/franka_randomized_500/instructions/episode227.json new file mode 100644 index 0000000000000000000000000000000000000000..94482088866b7d79d701dd6c4afd5bef8554e1e1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode227.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with slider switch and move it to the opposite side", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grab the handheld teal microphone and transfer it to another hand", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the textured white microphone head and deliver it to the other side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the textured white microphone head and pass it across.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Reach for the textured white microphone head and move it to the other hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Take the textured white microphone head and move it to the other hand.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grab the teal microphone and transfer it to another hand", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the teal microphone and hand it over to the other side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Lift the teal microphone and deliver it to the other side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Take the compact teal and white microphone and move it to another hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Pick up the textured white microphone head and hand it to the other side.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode228.json b/handover_mic/franka_randomized_500/instructions/episode228.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2e11d9c17b84db5dcccdd02f8c7c06638e65cf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode228.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white microphone handle black accents and pass it across.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the microphone for voice recording and move it to another hand.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Grip the black and white microphone and pass it to the other side", + "Grasp the compact size microphone and switch it to another hand.", + "Hold the compact size microphone with one hand and transfer it", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Pick up the black and white microphone and move it to the opposite side", + "Take the metal head microphone and pass it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the black and white microphone and move it to the other hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Hold the metal head microphone and deliver it to another side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the metal head microphone and pass it across.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the compact size microphone securely and shift it to another arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone for voice recording and move it to another hand.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Hold the microphone for voice recording with one hand and transfer it", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Take the metal head microphone and pass it to another hand", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Secure the microphone for voice recording from the table and transfer it.", + "Secure the handheld microphone using one arm and transfer it.", + "Hold the black and white microphone and pass it to the other hand.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Hold the black and white microphone and deliver it to another side.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Take the black and white microphone and move it to another hand.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Lift the compact size microphone and hand it to someone else.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode229.json b/handover_mic/franka_randomized_500/instructions/episode229.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3419d8cfa05c0d2a1318df57373add9c1a8cd3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode229.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the microphone with cylindrical handle and pass it across.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the black and white microphone and deliver it to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the microphone for voice recording and hand it to someone else.", + "Take the metal head microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Take the metal head microphone, shift it, and release it to the other side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the smooth plastic microphone handle and pass it across.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Take the compact size microphone and move it to the other hand.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grasp the metal head microphone and switch it to another hand.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Take the compact size microphone and pass it to another hand", + "Lift the handheld microphone and pass it across.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the compact size microphone and hand it over to the other side." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode23.json b/handover_mic/franka_randomized_500/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e1374b9cc4b77597d862c1a986b275de4e4ee57d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Secure the small audio microphone using one arm and transfer it.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the small audio microphone and deliver it to another side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Reach for the round head microphone and move it to the other hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the round head microphone and hand it to someone else.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the round head microphone and deliver it to another side.", + "Grasp the microphone with round foam head and pass it across.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the small audio microphone and pass it to another hand", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode230.json b/handover_mic/franka_randomized_500/instructions/episode230.json new file mode 100644 index 0000000000000000000000000000000000000000..5d36a92dcc71c5b33e331857945b77b61be028b4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode230.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the small audio microphone and pass it across.", + "Hold the dark blue microphone and deliver it to another side.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the dark blue microphone and pass it to another hand", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grip the dark blue microphone and pass it to the other side", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grasp the microphone for recording sound and pass it across.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Take the dark blue microphone and move it to the other hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone and pass it to another hand", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Use one hand to grab the round head microphone and pass it.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone with round foam head and pass it across.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Take the microphone for recording sound and move it to the other hand.", + "Use one arm to pick up the round head microphone and give it to the other." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode232.json b/handover_mic/franka_randomized_500/instructions/episode232.json new file mode 100644 index 0000000000000000000000000000000000000000..d8472ae133b1e4dabcb9c77286e7febd2225365e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode232.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the round head microphone from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grip the round head microphone and pass it to the other side", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the small audio microphone with one hand and transfer it", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick up the round head microphone and hand it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the round head microphone and pass it across.", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the round head microphone and hand it to the other side easily.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode234.json b/handover_mic/franka_randomized_500/instructions/episode234.json new file mode 100644 index 0000000000000000000000000000000000000000..86eb1828ea95089c57a8824490f2dc62619fd067 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode234.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Hold the compact teal and white microphone and deliver it to another side.", + "Secure the textured white microphone head from the table and transfer it.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the teal microphone and move it to the other hand.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the handheld teal microphone and pass it to the other hand.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the teal microphone and pass it across.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Hold the teal microphone and shift it to the other arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Secure the teal microphone using one arm and transfer it.", + "Grip the teal microphone and pass it to the other side", + "Lift the handheld teal microphone, then pass it across without delay.", + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Secure the teal microphone from the table and transfer it.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Pick up the teal microphone and hand it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the compact teal and white microphone and pass it across.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Seize the teal microphone and offer it to the other arm", + "Take the teal microphone and pass it to another hand", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Hold the handheld teal microphone and deliver it to another side.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Pick up the sound microphone with teal body and hand it to the other side." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode235.json b/handover_mic/franka_randomized_500/instructions/episode235.json new file mode 100644 index 0000000000000000000000000000000000000000..d0574298ecd93a86a5e022c46fc1809b593f8cfb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode235.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the handheld microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Secure the compact size microphone from the table and transfer it.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and hand it to the other side easily.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the black and white microphone and pass it to another hand", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Hold the handheld microphone with one hand and transfer it", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the black and white microphone and move it to another hand.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the compact size microphone, then pass it across without delay.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the metal head microphone securely and shift it to another arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the black and white microphone and deliver it to the other side.", + "Pick up the black and white microphone and hand it to the other side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the metal head microphone and move it to the other hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Hold the compact size microphone with one hand and transfer it", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the metal head microphone and move it to another hand.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grip the compact size microphone and pass it to the other side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Secure the microphone for voice recording using one arm and transfer it." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode236.json b/handover_mic/franka_randomized_500/instructions/episode236.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4c436b8a7226e85976d272752344d1783f4b92 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode236.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the white microphone handle black accents from the table and transfer it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick the compact size microphone and transfer it to the other arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the black and white microphone securely and shift it to another arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Use one hand to grab the compact size microphone and pass it.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the metal head microphone and pass it to another hand", + "Hold the handheld microphone and shift it to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Secure the handheld microphone from the table and transfer it.", + "Hold the black and white microphone with one hand and transfer it", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the black and white microphone and deliver it to another side.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the handheld microphone and pass it to the other hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and hand it to someone else.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode237.json b/handover_mic/franka_randomized_500/instructions/episode237.json new file mode 100644 index 0000000000000000000000000000000000000000..99aecd8a7d22ff2f9dbc7ccb3e55402a5699da39 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode237.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick up the black and white microphone and hand it to the other side.", + "Lift the handheld microphone and hand it to someone else.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Grasp the handheld microphone and pass it across.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Lift the mesh-patterned microphone head and pass it across.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the black and white microphone and deliver it to the other side.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Take the compact size microphone and move it to another hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the metal head microphone and hand it to the other side easily.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Secure the metal head microphone from the table and transfer it.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the handheld microphone, then pass it across without delay.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Grasp the microphone for voice recording and pass it across.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Reach for the handheld microphone and move it to the other hand.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grip the metal head microphone and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the compact size microphone with one hand and transfer it", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Secure the black and white microphone using one arm and transfer it.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the microphone with black tip and white body, then pass it across without delay." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode238.json b/handover_mic/franka_randomized_500/instructions/episode238.json new file mode 100644 index 0000000000000000000000000000000000000000..2641f35bc1a836a9aedb1d2d4d4bbe795f06ef2b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode238.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grasp the sound microphone with teal body and pass it across.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Hold the rounded white tip microphone with one hand and transfer it", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Lift the teal microphone and hand it to the other side easily.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Hold the teal microphone and deliver it to another side.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the compact teal and white microphone and pass it across.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grasp the microphone with slider switch and pass it across.", + "Pick up the textured white microphone head and move it to the opposite side", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick up the handheld teal microphone and hand it to the other side.", + "Seize the textured white microphone head and offer it to the other arm", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Use one hand to grab the teal microphone and pass it.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the teal microphone from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grip the teal microphone and pass it to the other side", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the sound microphone with teal body and pass it across.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick up the handheld teal microphone and hand it to the other side.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the textured white microphone head and give it to the opposite arm." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode239.json b/handover_mic/franka_randomized_500/instructions/episode239.json new file mode 100644 index 0000000000000000000000000000000000000000..cf141592ff2b52161aa630af575720f5e01baf45 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode239.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with textured metal head and move it to the other hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the metal head microphone and pass it across.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Secure the black and white microphone using one arm and transfer it.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone for voice recording and deliver it to another side.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the metal head microphone, then pass it across without delay.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the microphone for voice recording and transfer it to another hand", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the white microphone handle black accents and move it to the other hand.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the handheld microphone and pass it across.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grip the compact size microphone and pass it to the other side", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Pick up the metal head microphone and move it to the opposite side", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the handheld microphone and pass it across.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the black and white microphone and hand it over to the other side." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode241.json b/handover_mic/franka_randomized_500/instructions/episode241.json new file mode 100644 index 0000000000000000000000000000000000000000..77e40aac84c9d61a64d31aaa22518d537b9b43c9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode241.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white and teal sound microphone and hand it to the other side.", + "Secure the textured white microphone head using one arm and transfer it.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grip the teal microphone and pass it to the other side", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Use one hand to grab the textured white microphone head and pass it.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the microphone with white rounded head and pass it across.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Take the textured white microphone head and pass it to another hand", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Take the compact teal and white microphone and move it to another hand.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Seize the microphone with slider switch and offer it to the other arm", + "Pick the teal microphone and transfer it to the other arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the microphone with slider switch and pass it across.", + "Hold the handheld teal microphone with one hand and transfer it", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Lift the handheld teal microphone and hand it to someone else.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Lift the textured white microphone head and hand it over to the other side.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Grab the teal microphone and transfer it to another hand", + "Hold the textured white microphone head and shift it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode242.json b/handover_mic/franka_randomized_500/instructions/episode242.json new file mode 100644 index 0000000000000000000000000000000000000000..b5a5838f9576567de9a06d981a41889187161154 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode242.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black and white microphone and pass it across.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Hold the black and white microphone and shift it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the metal head microphone securely and shift it to another arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the microphone with textured metal head and pass it across.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the compact size microphone and move it to the opposite side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Pick the compact size microphone from the surface and switch hands.", + "Grasp the black and white microphone, then give it to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grasp the handheld microphone and switch it to another hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the handheld microphone and pass it to another hand", + "Grab the white microphone handle black accents and transfer it to another hand", + "Pick up the black and white microphone and move it to the opposite side", + "Pick the handheld microphone and transfer it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grasp the metal head microphone and pass it across.", + "Take the microphone for voice recording and move it to the other hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Hold the compact size microphone and deliver it to another side.", + "Pick up the handheld microphone and hand it to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Reach for the black and white microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode243.json b/handover_mic/franka_randomized_500/instructions/episode243.json new file mode 100644 index 0000000000000000000000000000000000000000..97cbb5d8a81b62a4c4690c1200f004b97c0a187f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode243.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Take the teal microphone, shift it, and release it to the other side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Hold the teal microphone with one hand and transfer it", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Seize the teal microphone and offer it to the other arm", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Lift the textured white microphone head and hand it to someone else.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the teal microphone and pass it across.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Hold the teal microphone and pass it to the other hand.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the rounded white tip microphone and pass it across.", + "Take the compact teal and white microphone and move it to another hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the rounded white tip microphone and hand it to someone else.", + "Grip the white and teal sound microphone and pass it to the other side", + "Lift the white bottom microphone with textured tip and pass it across.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Secure the teal microphone from the table and transfer it.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the teal microphone and hand it over to the other side.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Take the white and teal sound microphone and move it to the other hand.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Grasp the sound microphone with teal body and pass it across.", + "Take the rounded white tip microphone and move it to another hand.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode244.json b/handover_mic/franka_randomized_500/instructions/episode244.json new file mode 100644 index 0000000000000000000000000000000000000000..3294b33251e5c0f0f9c821c81bd893c5152fc3c9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode244.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the handheld teal microphone and deliver it to another side.", + "Lift the teal microphone and hand it over to the other side.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grip the microphone with slider switch and pass it to the other side", + "Seize the microphone with slider switch and offer it to the other arm", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the rounded white tip microphone and pass it across.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Hold the teal microphone and shift it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Grab the textured white microphone head and transfer it to another hand", + "Grip the compact teal and white microphone and pass it to the other side", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Lift the handheld teal microphone and deliver it to the other side.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the handheld teal microphone and pass it across.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Take the microphone with white rounded head and pass it to another hand", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Pick up the white and teal sound microphone and hand it to the other side." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode245.json b/handover_mic/franka_randomized_500/instructions/episode245.json new file mode 100644 index 0000000000000000000000000000000000000000..7b2557b4e3a6f5b78a8ae2e159df6e984ae51007 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode245.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Lift the handheld microphone and pass it across.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the black and white microphone securely and shift it to another arm.", + "Hold the compact size microphone with one hand and transfer it", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Use one hand to grab the handheld microphone and pass it.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Lift the compact size microphone and deliver it to the other side.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Hold the metal head microphone and deliver it to another side.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the black and white microphone and pass it across.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grip the microphone for voice recording and pass it to the other side", + "Hold the compact size microphone securely and shift it to another arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Use one hand to grab the metal head microphone and pass it.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Lift the compact size microphone and deliver it to the other side.", + "Seize the compact size microphone and offer it to the other arm", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the metal head microphone and move it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Lift the black and white microphone and pass it across.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grip the microphone for voice recording and pass it to the other side", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode246.json b/handover_mic/franka_randomized_500/instructions/episode246.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4343eabeeb52c4d0b977db254aac214d2b95d1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode246.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Hold the metal head microphone securely and shift it to another arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the metal head microphone and shift it to the other arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the metal head microphone, then pass it across without delay.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Secure the microphone with textured metal head from the table and transfer it.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Take the compact size microphone and pass it to another hand", + "Seize the black and white microphone and offer it to the other arm", + "Hold the black and white microphone and pass it to the other hand.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Hold the handheld microphone with one hand and transfer it", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grasp the black and white microphone and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Secure the compact size microphone from the table and transfer it.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Take the handheld microphone and move it to another hand.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Take the compact size microphone and move it to the other hand.", + "Lift the handheld microphone and pass it across.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Grip the metal head microphone and pass it to the other side", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the compact size microphone securely and shift it to another arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode25.json b/handover_mic/franka_randomized_500/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..e0dbea9785aacb42dcb814856394c3b2cf58bd1c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grasp the microphone with round foam head and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the small audio microphone and deliver it to the other side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick up the microphone with round foam head and move it to the opposite side", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the small audio microphone and pass it across.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grasp the round head microphone and switch it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the microphone for recording sound and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the dark blue microphone and pass it across.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick up the small audio microphone and move it to the opposite side", + "Take the microphone with round foam head and move it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Secure the small audio microphone from the table and transfer it.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the round head microphone with one hand and transfer it" + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode250.json b/handover_mic/franka_randomized_500/instructions/episode250.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfd30768bff82b3de69aa80a1e3f8836b25fe22 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode250.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the textured white microphone head, then pass it across without delay.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the teal microphone and pass it to the other hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Lift the teal microphone and hand it over to the other side.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the handheld teal microphone and hand it to someone else.", + "Lift the compact teal and white microphone and pass it across.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grasp the teal microphone and shift it to the opposite hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Take the teal microphone and move it to the other hand.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grip the compact teal and white microphone and pass it to the other side", + "Grasp the teal microphone and switch it to another hand.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Take the textured white microphone head and pass it to another hand", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the handheld teal microphone and pass it across.", + "Grab the teal microphone and transfer it to another hand", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the handheld teal microphone with one hand and transfer it", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode251.json b/handover_mic/franka_randomized_500/instructions/episode251.json new file mode 100644 index 0000000000000000000000000000000000000000..59320ca9f91d62112a9db65c77b6db2b8cbe836d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode251.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the black and white microphone securely and shift it to another arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Take the mesh-patterned microphone head and move it to another hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the handheld microphone and pass it across.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Hold the handheld microphone and deliver it to another side.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grab the compact size microphone and transfer it to another hand", + "Lift the microphone for voice recording and pass it across.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the handheld microphone securely and shift it to another arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Take the metal head microphone and pass it to another hand", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the handheld microphone and pass it across.", + "Take the microphone for voice recording and move it to the other hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Pick the metal head microphone from the surface and switch hands.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Secure the white microphone handle black accents from the table and transfer it." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode252.json b/handover_mic/franka_randomized_500/instructions/episode252.json new file mode 100644 index 0000000000000000000000000000000000000000..28913f2c7bf5e3ee88f68286916fdcb5cc1cecb2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode252.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the teal microphone and move it to the other hand.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Lift the teal microphone and hand it to someone else.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Take the textured white microphone head and move it to another hand.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Pick up the teal microphone and move it to the opposite side", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Take the microphone with white rounded head and move it to the other hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Lift the compact teal and white microphone and pass it across.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the rounded white tip microphone and move it to another hand.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Take the teal microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Grasp the handheld teal microphone and pass it across.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Take the teal microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Take the teal microphone, shift it, and release it to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the teal microphone and pass it across.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Hold the handheld teal microphone and deliver it to another side.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode253.json b/handover_mic/franka_randomized_500/instructions/episode253.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2150f63dda6fc9de30f20cdc705ac131e985b1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode253.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for voice recording and pass it across.", + "Grab the black and white microphone and transfer it to another hand", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick up the compact size microphone and hand it to the other side.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the compact size microphone securely and shift it to another arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Hold the handheld microphone and deliver it to another side.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grip the handheld microphone and pass it to the other side", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Secure the compact size microphone from the table and transfer it.", + "Use one hand to grab the compact size microphone and pass it.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grab the handheld microphone and give it to the opposite arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Seize the compact size microphone and offer it to the other arm", + "Take the compact size microphone and move it to another hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the compact size microphone with one hand and transfer it", + "Take the white microphone handle black accents and pass it to another hand", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the metal head microphone and pass it across.", + "Grab the compact size microphone and transfer it to another hand", + "Grab the metal head microphone and give it to the opposite arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the compact size microphone and deliver it to the other side.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Pick up the microphone with cylindrical handle and move it to the opposite side" + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode254.json b/handover_mic/franka_randomized_500/instructions/episode254.json new file mode 100644 index 0000000000000000000000000000000000000000..8c56e01400249927dd393fd119ee863b028e79f4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode254.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head and move it to another hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone with round foam head and shift it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the round head microphone and hand it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone with round foam head and pass it across.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the small audio microphone and switch it to another hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grip the small audio microphone and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the small audio microphone with one hand and transfer it", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the dark blue microphone and pass it across.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Secure the small audio microphone from the table and transfer it.", + "Take the microphone for recording sound and move it to the other hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grip the round head microphone and pass it to the other side", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Take the round head microphone and pass it to another hand" + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode255.json b/handover_mic/franka_randomized_500/instructions/episode255.json new file mode 100644 index 0000000000000000000000000000000000000000..b9398ca43572462f820da07f7c3df1d278037d87 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode255.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Seize the teal microphone and offer it to the other arm", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grasp the teal microphone and pass it across.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Secure the microphone with slider switch from the table and transfer it.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Take the microphone with slider switch and move it to another hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Take the plastic teal microphone with slider and pass it to another hand", + "Lift the compact teal and white microphone and pass it across.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Grasp the textured white microphone head and pass it across.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grip the microphone with white rounded head and pass it to the other side", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Take the handheld teal microphone and move it to another hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Lift the textured white microphone head and hand it to someone else.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the textured white microphone head and transfer it to another hand", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the white and teal sound microphone and pass it across.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Hold the teal microphone securely and shift it to another arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick the teal microphone from the surface and switch hands.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grab the textured white microphone head and give it to the opposite arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Grasp the rounded white tip microphone and pass it across." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode256.json b/handover_mic/franka_randomized_500/instructions/episode256.json new file mode 100644 index 0000000000000000000000000000000000000000..3d104fa7d99fdcce8595549ff21c7e283f3dc10d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode256.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the microphone with slider switch and move it to the other hand.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Take the textured white microphone head and move it to another hand.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Hold the textured white microphone head and deliver it to another side.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Lift the textured white microphone head and pass it across.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grasp the textured white microphone head and switch it to another hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the teal microphone and deliver it to the other side.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the sound microphone with teal body and pass it across.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Secure the teal microphone from the table and transfer it.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Take the microphone with slider switch and move it to another hand.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Hold the handheld teal microphone and deliver it to another side.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Pick up the teal microphone and transfer it to the opposite side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the textured white microphone head and hand it over to the other side.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Hold the textured white microphone head and pass it to the other hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Reach for the teal microphone and move it to the other hand.", + "Grasp the microphone with slider switch and pass it across.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Secure the teal microphone from the table and transfer it.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Use one arm to pick up the sound microphone with teal body and give it to the other." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode258.json b/handover_mic/franka_randomized_500/instructions/episode258.json new file mode 100644 index 0000000000000000000000000000000000000000..605bd3324b1f4f5cb77765941939ff63ca278079 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode258.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Secure the dark blue microphone using one arm and transfer it.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone with round foam head and pass it across.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Take the dark blue microphone and pass it to another hand", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Hold the round head microphone with one hand and transfer it", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the dark blue microphone and switch it to another hand.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Secure the dark blue microphone using one arm and transfer it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode259.json b/handover_mic/franka_randomized_500/instructions/episode259.json new file mode 100644 index 0000000000000000000000000000000000000000..66dddb260fb27193e8af7858a8896921eb322e0a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode259.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the microphone for recording sound and transfer it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Pick up the round head microphone and move it to the opposite side", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the round head microphone with one hand and transfer it", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick up the round head microphone and hand it to the other side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Seize the dark blue microphone and offer it to the other arm", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the dark blue microphone and pass it across.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode26.json b/handover_mic/franka_randomized_500/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..c5b76cd62e729907faa764978d9b988c0d9771b5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the handheld teal microphone and switch it to another hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the teal microphone and hand it over to the other side.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grip the teal microphone and pass it to the other side", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick the teal microphone and transfer it to the other arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Hold the teal microphone with one hand and transfer it", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Pick up the microphone with slider switch and hand it to the other side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the teal microphone, then pass it across without delay.", + "Secure the teal microphone using one arm and transfer it.", + "Secure the teal microphone from the table and transfer it.", + "Grip the microphone with white rounded head and pass it to the other side", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Seize the teal microphone and offer it to the other arm", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grasp the microphone with white rounded head and pass it across.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the rounded white tip microphone and move it to another hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the teal microphone with one hand and transfer it", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the compact teal and white microphone and pass it across.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grab the teal microphone and give it to the opposite arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Secure the sound microphone with teal body using one arm and transfer it." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode260.json b/handover_mic/franka_randomized_500/instructions/episode260.json new file mode 100644 index 0000000000000000000000000000000000000000..52b2781947081154f37db96afacba89d28f52a19 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode260.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grip the round head microphone and pass it to the other side", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and pass it across.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the round head microphone and pass it to the other hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the small audio microphone and hand it over to the other side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the round head microphone and deliver it to the other side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the microphone for recording sound and hand it to someone else." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode261.json b/handover_mic/franka_randomized_500/instructions/episode261.json new file mode 100644 index 0000000000000000000000000000000000000000..d90ccfb6fc9676f8c866b1ac32ce3f5e575e1d78 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode261.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Secure the teal microphone using one arm and transfer it.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Use one hand to grab the teal microphone and pass it.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Lift the teal microphone and hand it to someone else.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Lift the textured white microphone head and pass it across.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the teal microphone, then give it to the other arm.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Hold the sound microphone with teal body with one hand and transfer it", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Grab the handheld teal microphone and transfer it to another hand", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Pick up the teal microphone and hand it to the other side.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Take the microphone with slider switch and pass it to another hand", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Hold the textured white microphone head and deliver it to another side.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the textured white microphone head and hand it over to the other side.", + "Grasp the compact teal and white microphone and pass it across.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Take the handheld teal microphone and move it to another hand.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Pick up the teal microphone and hand it to the other side.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Take the rounded white tip microphone and pass it to another hand" + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode262.json b/handover_mic/franka_randomized_500/instructions/episode262.json new file mode 100644 index 0000000000000000000000000000000000000000..728081f261932fc049defa30344b368dcadc683d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode262.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the gray and dark blue microphone and pass it to another hand", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the dark blue microphone and deliver it to another side.", + "Seize the small audio microphone and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grip the dark blue microphone and pass it to the other side", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the gray and dark blue microphone and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grasp the round head microphone and switch it to another hand.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the microphone with round foam head and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the round head microphone, then pass it across without delay.", + "Take the microphone with dark blue padding and pass it to another hand", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grasp the round head microphone and shift it to the opposite hand." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode263.json b/handover_mic/franka_randomized_500/instructions/episode263.json new file mode 100644 index 0000000000000000000000000000000000000000..15c7c869c0ef646c012bf09a36ca57a7ab69966a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode263.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Hold the round head microphone with one hand and transfer it", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the microphone for recording sound and hand it to someone else.", + "Seize the microphone with round foam head and offer it to the other arm", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the dark blue microphone and move it to another hand.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the microphone with round foam head and hand it to someone else.", + "Seize the microphone for recording sound and offer it to the other arm", + "Secure the round head microphone from the table and transfer it.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the dark blue microphone and pass it across.", + "Take the small audio microphone and move it to another hand.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the round head microphone and deliver it to the other side.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Lift the small audio microphone and pass it across.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode264.json b/handover_mic/franka_randomized_500/instructions/episode264.json new file mode 100644 index 0000000000000000000000000000000000000000..caa06cf057e19991566fcbd8cad563ef8fb93cdf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode264.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Secure the textured white microphone head from the table and transfer it.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick the teal microphone from the surface and switch hands.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the handheld teal microphone and pass it across.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Seize the teal microphone and offer it to the other arm", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the microphone with slider switch and move it to another hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grasp the textured white microphone head and pass it across.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Pick the textured white microphone head from the surface and switch hands.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the rounded white tip microphone and pass it across.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grip the handheld teal microphone and pass it to the other side", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Secure the teal microphone using one arm and transfer it.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grab the textured white microphone head and transfer it to another hand", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Take the compact teal and white microphone and move it to another hand.", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grasp the sound microphone with teal body and pass it across.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Take the rounded white tip microphone, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode265.json b/handover_mic/franka_randomized_500/instructions/episode265.json new file mode 100644 index 0000000000000000000000000000000000000000..35719e9605ac641ca980e183f1ca75e3c9470423 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode265.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the black and white microphone and hand it over to the other side.", + "Pick up the compact size microphone and hand it to the other side.", + "Grip the handheld microphone and pass it to the other side", + "Lift the compact size microphone and hand it over to the other arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Reach for the compact size microphone and move it to the other hand.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the metal head microphone and pass it across.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the microphone for voice recording and pass it across.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Secure the metal head microphone using one arm and transfer it.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the compact size microphone and hand it to the other side.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Reach for the black and white microphone and move it to the other hand.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the metal head microphone and pass it across.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Hold the compact size microphone and shift it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the handheld microphone with one hand and transfer it", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode267.json b/handover_mic/franka_randomized_500/instructions/episode267.json new file mode 100644 index 0000000000000000000000000000000000000000..d9bda9305bc61de2e47fd1321598ce4b301c5bee --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode267.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Secure the metal head microphone from the table and transfer it.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grip the compact size microphone and pass it to the other side", + "Grasp the handheld microphone and switch it to another hand.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Grasp the handheld microphone and pass it across.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the black and white microphone and pass it across.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Take the compact size microphone and move it to the other hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Grasp the microphone for voice recording and switch it to another hand.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the handheld microphone and deliver it to another side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the compact size microphone and pass it across.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the compact size microphone and move it to another hand.", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Secure the black and white microphone using one arm and transfer it.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Reach for the microphone with black tip and white body and move it to the other hand." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode268.json b/handover_mic/franka_randomized_500/instructions/episode268.json new file mode 100644 index 0000000000000000000000000000000000000000..f2909d2b9a43a27e40339ce84a4c31ec8b36e87f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode268.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Secure the microphone for voice recording from the table and transfer it.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the handheld microphone and move it to another hand.", + "Take the black and white microphone and move it to the other hand.", + "Lift the white microphone handle black accents and pass it across.", + "Lift the handheld microphone and hand it over to the other side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Take the compact size microphone and pass it to another hand", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Grip the metal head microphone and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Secure the handheld microphone from the table and transfer it.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Seize the metal head microphone and offer it to the other arm", + "Take the microphone with black tip and white body and move it to another hand.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grasp the black and white microphone, then give it to the other arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use one hand to grab the microphone with black tip and white body and pass it." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode269.json b/handover_mic/franka_randomized_500/instructions/episode269.json new file mode 100644 index 0000000000000000000000000000000000000000..20701a49aa483fb26db4e8b413c7f14bebbbd93f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode269.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the microphone with white rounded head and pass it to the other side", + "Take the handheld teal microphone and move it to the other hand.", + "Take the compact teal and white microphone and move it to another hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the teal microphone and pass it across.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Pick up the teal microphone and hand it to the other side.", + "Lift the teal microphone, then pass it across without delay.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Grip the teal microphone and pass it to the other side", + "Take the compact teal and white microphone and move it to the other hand.", + "Take the sound microphone with teal body and move it to another hand.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Lift the textured white microphone head and hand it to someone else.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Secure the teal microphone from the table and transfer it.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Lift the textured white microphone head, then pass it across without delay.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Take the compact teal and white microphone and move it to the other hand.", + "Take the sound microphone with teal body and move it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Take the microphone with slider switch, shift it, and release it to the other side." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode27.json b/handover_mic/franka_randomized_500/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..30ecbe71511a616663f3b7092c39dd8b0638deed --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grip the compact size microphone and pass it to the other side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Take the black and white microphone and move it to another hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the smooth plastic microphone handle and pass it to another hand", + "Secure the metal head microphone using one arm and transfer it.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Seize the handheld microphone and offer it to the other arm", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the compact size microphone and pass it across.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grasp the handheld microphone and pass it across.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick up the handheld microphone and move it to the opposite side", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the black and white microphone and pass it to the other hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Take the smooth plastic microphone handle and pass it to another hand", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grab the black and white microphone and transfer it to another hand", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the handheld microphone and pass it across.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the black and white microphone and shift it to the other arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Grip the handheld microphone and pass it to the other side", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the metal head microphone securely and shift it to another arm." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode270.json b/handover_mic/franka_randomized_500/instructions/episode270.json new file mode 100644 index 0000000000000000000000000000000000000000..1a92d8264407e6a5ab196aef7ba3b2f52d5182be --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode270.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the mesh-patterned microphone head and pass it to another hand", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the compact size microphone and hand it to someone else.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Secure the black and white microphone from the table and transfer it.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Seize the black and white microphone and offer it to the other arm", + "Grip the metal head microphone and pass it to the other side", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the black and white microphone and pass it across.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the compact size microphone and pass it across.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the compact size microphone, then give it to the other arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the black and white microphone and pass it to another hand", + "Grab the black and white microphone and transfer it to another hand", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the compact size microphone and move it to another hand.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone for voice recording and hand it to someone else.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the metal head microphone and pass it to the other hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the metal head microphone and move it to the other hand.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the white microphone handle black accents and transfer it to another hand", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Secure the microphone with rounded mesh head using one arm and transfer it." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode271.json b/handover_mic/franka_randomized_500/instructions/episode271.json new file mode 100644 index 0000000000000000000000000000000000000000..89e90a9f263878fb82dd911492a00e3abb2fcd97 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode271.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with slider switch and deliver it to the other side.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the teal microphone and hand it to someone else.", + "Secure the teal microphone using one arm and transfer it.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Hold the teal microphone and deliver it to another side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the rounded white tip microphone and pass it across.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Pick up the textured white microphone head and move it to the opposite side", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grasp the teal microphone and pass it across.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Secure the textured white microphone head from the table and transfer it.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the microphone with white rounded head and hand it to someone else.", + "Secure the textured white microphone head using one arm and transfer it.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the teal microphone, then pass it across without delay.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the teal microphone with one hand and transfer it", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Lift the microphone with slider switch and pass it across.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Reach for the textured white microphone head and move it to the other hand.", + "Grip the microphone with white rounded head and pass it to the other side", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Take the teal microphone and move it to the other hand.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode272.json b/handover_mic/franka_randomized_500/instructions/episode272.json new file mode 100644 index 0000000000000000000000000000000000000000..dc0f7c32285db5619589018f249e69866612f64a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode272.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Take the rounded white tip microphone and pass it to another hand", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the textured white microphone head and move it to the other hand.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Secure the microphone with slider switch from the table and transfer it.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Lift the microphone with slider switch and pass it across.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Take the sound microphone with teal body and move it to the other hand.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Take the white and teal sound microphone and move it to another hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the teal microphone and deliver it to the other side.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grasp the textured white microphone head and pass it across.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Use one hand to grab the white and teal sound microphone and pass it." + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode273.json b/handover_mic/franka_randomized_500/instructions/episode273.json new file mode 100644 index 0000000000000000000000000000000000000000..18768954de18896a6462aea36dfa0495586625b2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode273.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact size microphone and move it to the other hand.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the metal head microphone and pass it across.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Take the white microphone handle black accents and move it to another hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the metal head microphone with one hand and transfer it", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Hold the metal head microphone and deliver it to another side.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the metal head microphone and move it to the other hand.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grab the compact size microphone and give it to the opposite arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grip the compact size microphone and pass it to the other side", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the compact size microphone and pass it to another hand", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the compact size microphone and transfer it to another hand", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Take the white microphone handle black accents and move it to another hand.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grasp the microphone with black tip and white body and pass it across.", + "Take the metal head microphone and move it to the other hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode274.json b/handover_mic/franka_randomized_500/instructions/episode274.json new file mode 100644 index 0000000000000000000000000000000000000000..3b87ba71edbdd2188c94f1b476ba1230b400a915 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode274.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the compact size microphone and pass it across.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Take the compact size microphone and move it to another hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Take the handheld microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Secure the handheld microphone using one arm and transfer it.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it over to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the metal head microphone and pass it across.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the compact size microphone and deliver it to another side.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Hold the compact size microphone with one hand and transfer it", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the black and white microphone and pass it to the other hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Secure the metal head microphone using one arm and transfer it.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the black and white microphone securely and shift it to another arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the metal head microphone and pass it across.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Hold the compact size microphone and deliver it to another side.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the black and white microphone and move it to another hand.", + "Grasp the white microphone handle black accents and pass it across." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode275.json b/handover_mic/franka_randomized_500/instructions/episode275.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0b9698ba244594301ec1584e143fcd4257e560 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode275.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the dark blue microphone and move it to another hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the round head microphone and move it to another hand.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Hold the round head microphone with one hand and transfer it", + "Hold the round head microphone and deliver it to another side.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the dark blue microphone and pass it across." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode277.json b/handover_mic/franka_randomized_500/instructions/episode277.json new file mode 100644 index 0000000000000000000000000000000000000000..3de1f0f6ca610beec86b073dfac8e68d40bef158 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode277.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the microphone with slider switch with one hand and transfer it", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the textured white microphone head and move it to the other hand.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Lift the teal microphone, then pass it across without delay.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick up the teal microphone and move it to the opposite side", + "Grasp the plastic teal microphone with slider and pass it across.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Pick up the teal microphone and hand it to the other side.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Take the teal microphone and move it to another hand.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with slider switch and deliver it to another side.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the white and teal sound microphone and pass it across.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the microphone with slider switch and shift it to the other arm.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grasp the sound microphone with teal body and pass it across.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Reach for the teal microphone and move it to the other hand.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Lift the teal microphone and hand it to the other side easily.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Lift the microphone with slider switch and hand it to someone else.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Pick the microphone with white rounded head and transfer it to the other arm." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode278.json b/handover_mic/franka_randomized_500/instructions/episode278.json new file mode 100644 index 0000000000000000000000000000000000000000..aabe00a72d6110990b169cfbca41bbcf9ac4f93c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode278.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Seize the black and white microphone and offer it to the other arm", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Take the microphone for voice recording and pass it to another hand", + "Hold the handheld microphone and shift it to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the white microphone handle black accents with one hand and transfer it", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grab the black and white microphone and transfer it to another hand", + "Secure the compact size microphone from the table and transfer it.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Use one hand to grab the compact size microphone and pass it.", + "Hold the metal head microphone and deliver it to another side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick the metal head microphone from the surface and switch hands.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Hold the metal head microphone and shift it to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Pick up the black and white microphone and move it to the opposite side", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Grasp the compact size microphone and pass it across.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Take the handheld microphone and move it to the other hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Grip the handheld microphone and pass it to the other side", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Secure the metal head microphone from the table and transfer it.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Hold the metal head microphone and deliver it to another side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand" + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode279.json b/handover_mic/franka_randomized_500/instructions/episode279.json new file mode 100644 index 0000000000000000000000000000000000000000..a8b45a1501995122d759b51a30c0d2d470d68123 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode279.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with round foam head and pass it.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the round head microphone and pass it to another hand", + "Grip the audio microphone with soft covering and pass it to the other side", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the round head microphone and deliver it to the other side.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the microphone for recording sound and hand it to someone else.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the microphone with round foam head and move it to the other hand.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grip the round head microphone and pass it to the other side", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the microphone with round foam head and hand it to someone else.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the small audio microphone and deliver it to another side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grip the microphone with round foam head and pass it to the other side", + "Take the round head microphone and move it to another hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode28.json b/handover_mic/franka_randomized_500/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..e16da14764b337d0f7711f24b2b3260f0848e91d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Lift the metal head microphone and pass it across.", + "Grasp the black and white microphone and switch it to another hand.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the handheld microphone and hand it over to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the compact size microphone and hand it to the other side easily.", + "Pick up the compact size microphone and move it to the opposite side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Take the metal head microphone and move it to the other hand.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Secure the handheld microphone from the table and transfer it.", + "Grip the handheld microphone and pass it to the other side", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Pick up the handheld microphone and hand it to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Lift the compact size microphone and pass it across.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the metal head microphone and hand it over to the other arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the black and white microphone and hand it to someone else.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grip the handheld microphone and pass it to the other side", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents and pass it across.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the compact size microphone and hand it over to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode282.json b/handover_mic/franka_randomized_500/instructions/episode282.json new file mode 100644 index 0000000000000000000000000000000000000000..53138e0bcadbd936698aab6f490512fe0f40a93a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode282.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Seize the microphone with slider switch and offer it to the other arm", + "Secure the rounded white tip microphone from the table and transfer it.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Reach for the teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Lift the textured white microphone head and pass it across.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the rounded white tip microphone and pass it to another hand", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grip the white and teal sound microphone and pass it to the other side", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the microphone with slider switch and pass it across.", + "Pick the teal microphone and transfer it to the other arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Seize the teal microphone and offer it to the other arm", + "Secure the handheld teal microphone from the table and transfer it.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Hold the teal microphone and deliver it to another side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the handheld teal microphone and move it to another hand.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Reach for the teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Lift the microphone with white rounded head and pass it across.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the plastic teal microphone with slider and pass it to another hand", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grip the textured white microphone head and pass it to the other side", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the textured white microphone head and hand it to someone else.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Use one hand to grab the textured white microphone head and pass it.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Grasp the textured white microphone head and pass it across.", + "Pick the teal microphone and transfer it to the other arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Hold the teal microphone and pass it to the other hand." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode283.json b/handover_mic/franka_randomized_500/instructions/episode283.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca02e26b133cbfe39c3b888efe2506d2c800d6c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode283.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sound microphone with teal body, then pass it across without delay.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the teal microphone and deliver it to another side.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the handheld teal microphone and shift it to the other arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the textured white microphone head and deliver it to the other side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the teal microphone from the surface and switch hands.", + "Take the teal microphone and move it to another hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Use one hand to grab the handheld teal microphone and pass it.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Reach for the teal microphone and move it to the other hand.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Take the compact teal and white microphone and pass it to another hand", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the sound microphone with teal body and move it to another hand.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the microphone with white rounded head and pass it across.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Take the textured white microphone head and pass it to another hand", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Grip the white and teal sound microphone and pass it to the other side", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Secure the textured white microphone head using one arm and transfer it.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode284.json b/handover_mic/franka_randomized_500/instructions/episode284.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ee2d552e6286247a55855eb7f4f3ba5e233020 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode284.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color and pass it across.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick the dark blue microphone from the surface and switch hands.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Take the round head microphone and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the round head microphone and hand it over to the other side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the small audio microphone and give it to the opposite arm.", + "Grip the round head microphone and pass it to the other side", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the round head microphone and hand it to someone else.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the small audio microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode286.json b/handover_mic/franka_randomized_500/instructions/episode286.json new file mode 100644 index 0000000000000000000000000000000000000000..14c7e826b7aa85e0bb2ec7127284e11a88ef4411 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode286.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Seize the teal microphone and offer it to the other arm", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Take the textured white microphone head and pass it to another hand", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grip the handheld teal microphone and pass it to the other side", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Hold the teal microphone and shift it to the other arm.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Take the teal microphone and move it to the other hand.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Lift the teal microphone and pass it across.", + "Reach for the textured white microphone head and move it to the other hand.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grip the teal microphone and pass it to the other side", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Take the microphone with slider switch and move it to the other hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Lift the handheld teal microphone and pass it across.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Grasp the microphone with white rounded head, then give it to the other arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode288.json b/handover_mic/franka_randomized_500/instructions/episode288.json new file mode 100644 index 0000000000000000000000000000000000000000..96cca499e31588bc1d3b1b64f6130ae36cffbee0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode288.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the microphone with round foam head and pass it to another hand", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the dark blue microphone and move it to another hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grip the small audio microphone and pass it to the other side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grasp the dark blue microphone and switch it to another hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Take the microphone for recording sound and pass it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the small audio microphone, then give it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone for recording sound and pass it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode289.json b/handover_mic/franka_randomized_500/instructions/episode289.json new file mode 100644 index 0000000000000000000000000000000000000000..419bff233c84a2ef7edbc958d24d328c29caad30 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode289.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use one arm to pick up the round head microphone and give it to the other.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the round head microphone, then pass it across without delay.", + "Take the dark blue microphone and move it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grip the round head microphone and pass it to the other side", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the small audio microphone and pass it across.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Seize the round head microphone and offer it to the other arm", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grip the small audio microphone and pass it to the other side", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode29.json b/handover_mic/franka_randomized_500/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..92a5455b742d2726f558281db4f1885356277181 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Secure the teal microphone from the table and transfer it.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Secure the teal microphone using one arm and transfer it.", + "Take the microphone with slider switch and move it to another hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the textured white microphone head and pass it to another hand", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Lift the teal microphone and hand it to someone else.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the textured white microphone head and shift it to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Grasp the compact teal and white microphone and pass it across.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Take the rounded white tip microphone and move it to another hand.", + "Seize the teal microphone and offer it to the other arm", + "Hold the teal microphone and deliver it to another side.", + "Hold the microphone with slider switch with one hand and transfer it", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Lift the teal microphone, then pass it across without delay.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Take the compact teal and white microphone and pass it to another hand", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Hold the teal microphone and pass it to the other hand.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the microphone with white rounded head and pass it across.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode290.json b/handover_mic/franka_randomized_500/instructions/episode290.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f822518feeaee58a2814d53adcc833dd8fa016 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode290.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with white rounded head and pass it across.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the microphone with slider switch and pass it across.", + "Grab the teal microphone and transfer it to another hand", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Take the textured white microphone head and move it to another hand.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the teal microphone and pass it to another hand", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the teal microphone and deliver it to the other side.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Take the rounded white tip microphone and move it to the other hand.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the handheld teal microphone and hand it to someone else.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Secure the handheld teal microphone from the table and transfer it.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Lift the teal microphone and pass it across.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Hold the teal microphone and deliver it to another side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Lift the sound microphone with teal body and hand it to someone else.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Hold the microphone with slider switch with one hand and transfer it", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Secure the teal microphone from the table and transfer it.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the sound microphone with teal body and pass it across.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the microphone with slider switch, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode291.json b/handover_mic/franka_randomized_500/instructions/episode291.json new file mode 100644 index 0000000000000000000000000000000000000000..45157b6127d80aa8c6ff1a07b18055e432c083b4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode291.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the microphone for voice recording and pass it across.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the black and white microphone and pass it to the other hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the black and white microphone and move it to the other hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Pick up the metal head microphone and move it to the opposite side", + "Take the white microphone handle black accents and move it to another hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the handheld microphone and pass it to another hand", + "Grasp the metal head microphone and pass it across.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the microphone with textured metal head and hand it to someone else.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the black and white microphone and pass it across.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the handheld microphone and move it to another hand.", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grasp the black and white microphone and pass it across.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Hold the metal head microphone securely and shift it to another arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the handheld microphone and hand it to someone else.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the metal head microphone and pass it across.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and switch it to another hand." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode292.json b/handover_mic/franka_randomized_500/instructions/episode292.json new file mode 100644 index 0000000000000000000000000000000000000000..d4987dbd7a3c9f24b0c819f37a66ae890959caf9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode292.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact teal and white microphone and deliver it to another side.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Lift the sound microphone with teal body and pass it across.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the handheld teal microphone, then pass it across without delay.", + "Pick the teal microphone and transfer it to the other arm.", + "Take the textured white microphone head and pass it to another hand", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the teal microphone and deliver it to the other side.", + "Grip the white and teal sound microphone and pass it to the other side", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grasp the textured white microphone head and pass it across.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Grasp the teal microphone and switch it to another hand.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the microphone with slider switch and pass it across.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Seize the teal microphone and offer it to the other arm", + "Lift the teal microphone, then pass it across without delay.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Take the microphone with slider switch and move it to the other hand.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Pick up the teal microphone and transfer it to the opposite side.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Use one hand to grab the teal microphone and pass it.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Hold the handheld teal microphone and deliver it to another side.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the white and teal sound microphone and pass it across.", + "Lift the handheld teal microphone and hand it to someone else.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the handheld teal microphone and pass it to another hand", + "Take the handheld teal microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode294.json b/handover_mic/franka_randomized_500/instructions/episode294.json new file mode 100644 index 0000000000000000000000000000000000000000..82cc3c867122e6726f44b58152dbaafe5643dfac --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode294.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the microphone for voice recording and move it to the opposite side", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Reach for the handheld microphone and move it to the other hand.", + "Grip the handheld microphone and pass it to the other side", + "Lift the metal head microphone and pass it across.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grasp the microphone for voice recording and pass it across.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the compact size microphone, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the black and white microphone, then pass it across without delay.", + "Grab the handheld microphone and give it to the opposite arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the handheld microphone and switch it to another hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the black and white microphone, then give it to the other arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the metal head microphone and move it to the opposite side", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the handheld microphone and pass it across.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Grab the black and white microphone and transfer it to another hand", + "Grasp the microphone for voice recording and pass it across.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Take the white microphone handle black accents and pass it to another hand", + "Secure the handheld microphone from the table and transfer it.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grab the black and white microphone and give it to the opposite arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Hold the black and white microphone and shift it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode295.json b/handover_mic/franka_randomized_500/instructions/episode295.json new file mode 100644 index 0000000000000000000000000000000000000000..f95f2125f8c05138a61efa87d5ae74a69948fcc4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode295.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the microphone with slider switch and transfer it to another hand", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Lift the compact teal and white microphone and pass it across.", + "Take the compact teal and white microphone and move it to the other hand.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Take the microphone with white rounded head and move it to another hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Seize the teal microphone and offer it to the other arm", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Lift the teal microphone and hand it over to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the textured white microphone head and pass it to the other hand.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the compact teal and white microphone and pass it to another hand", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Lift the compact teal and white microphone and pass it across.", + "Take the microphone with white rounded head and move it to the other hand.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grasp the handheld teal microphone and pass it across.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick the textured white microphone head from the surface and switch hands.", + "Take the white and teal sound microphone and move it to another hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the handheld teal microphone and pass it to the other hand.", + "Lift the textured white microphone head, then pass it across without delay.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the handheld teal microphone and pass it to another hand", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Grab the teal microphone and give it to the opposite arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode296.json b/handover_mic/franka_randomized_500/instructions/episode296.json new file mode 100644 index 0000000000000000000000000000000000000000..65a744848df69b25cf6c81d01c2f9c903277f503 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode296.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the rounded white tip microphone and pass it across.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the teal microphone and deliver it to the other side.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the handheld teal microphone and hand it to someone else.", + "Take the textured white microphone head and pass it to another hand", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Secure the microphone with slider switch from the table and transfer it.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Secure the textured white microphone head using one arm and transfer it.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Take the handheld teal microphone and move it to another hand.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the compact teal and white microphone and pass it to another hand", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Pick up the teal microphone and hand it to the other side.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grab the textured white microphone head and transfer it to another hand", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Grasp the teal microphone and switch it to another hand.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grip the teal microphone and pass it to the other side", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Seize the teal microphone and offer it to the other arm", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Lift the handheld teal microphone and pass it across.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode297.json b/handover_mic/franka_randomized_500/instructions/episode297.json new file mode 100644 index 0000000000000000000000000000000000000000..c48c3b2ca752284ddec36d2ff69cdcb0d8e868fa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode297.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone and move it to another hand.", + "Lift the black and white microphone and hand it to someone else.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the microphone with rounded mesh head and pass it to another hand", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Secure the microphone for voice recording from the table and transfer it.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the microphone with textured metal head and pass it across.", + "Hold the black and white microphone and deliver it to another side.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Take the metal head microphone and move it to another hand.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grip the compact size microphone and pass it to the other side", + "Take the smooth plastic microphone handle and pass it to another hand", + "Hold the black and white microphone and shift it to the other arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the microphone for voice recording and pass it across.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording with one hand and transfer it", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the compact size microphone and pass it to another hand", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Secure the compact size microphone from the table and transfer it.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode298.json b/handover_mic/franka_randomized_500/instructions/episode298.json new file mode 100644 index 0000000000000000000000000000000000000000..a38451464b1d88667005b3d500b48fe286e59b14 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode298.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Secure the metal head microphone from the table and transfer it.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Take the handheld microphone and move it to the other hand.", + "Take the black and white microphone and pass it to another hand", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the handheld microphone and hand it to the other side.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grasp the metal head microphone and pass it across.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the handheld microphone and move it to another hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Hold the metal head microphone with one hand and transfer it", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the black and white microphone and pass it across.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone for voice recording and pass it to another hand", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Pick up the black and white microphone and hand it to the other side.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the microphone with textured metal head and pass it across.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the handheld microphone and move it to another hand.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the compact size microphone and hand it to someone else.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode299.json b/handover_mic/franka_randomized_500/instructions/episode299.json new file mode 100644 index 0000000000000000000000000000000000000000..93c2a4a92718a037790301985c70d025e1eae3c5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode299.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the black and white microphone with one hand and transfer it", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Take the microphone with textured metal head and pass it to another hand", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Secure the metal head microphone from the table and transfer it.", + "Pick the black and white microphone and transfer it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the compact size microphone and hand it to the other side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Take the handheld microphone and move it to another hand.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the compact size microphone and hand it to someone else.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the handheld microphone securely and shift it to another arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the smooth plastic microphone handle and pass it across.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Use one hand to grab the handheld microphone and pass it.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents and pass it across.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the compact size microphone and hand it to the other side.", + "Hold the black and white microphone and shift it to the other arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Seize the compact size microphone and offer it to the other arm", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the microphone for voice recording and pass it across.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the handheld microphone and switch it to another hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Take the microphone for voice recording and pass it to another hand" + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode3.json b/handover_mic/franka_randomized_500/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..f23479307cc529e93fee1992c5d58905c4f7b5e5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with white rounded head and deliver it to another side.", + "Lift the microphone with slider switch and pass it across.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Take the textured white microphone head and move it to the other hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grab the microphone with white rounded head and transfer it to another hand", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grip the teal microphone and pass it to the other side", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Secure the teal microphone from the table and transfer it.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the teal microphone, then pass it across without delay.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Take the handheld teal microphone and pass it to another hand", + "Reach for the teal microphone and move it to the other hand.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Grasp the microphone with slider switch and pass it across.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the handheld teal microphone and move it to another hand.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Lift the microphone with slider switch and pass it across.", + "Hold the teal microphone and pass it to the other hand.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Take the teal microphone and move it to the other hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grab the teal microphone and transfer it to another hand", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Secure the sound microphone with teal body from the table and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the microphone with slider switch and pass it to another hand", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Take the compact teal and white microphone and move it to another hand.", + "Use one hand to grab the textured white microphone head and pass it.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Lift the white and teal sound microphone and pass it across.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grab the sound microphone with teal body and transfer it to another hand", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the teal microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode300.json b/handover_mic/franka_randomized_500/instructions/episode300.json new file mode 100644 index 0000000000000000000000000000000000000000..4e781723f1675831c68eac77ae593344a393c3c4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode300.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the round head microphone and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick the round head microphone from the surface and switch hands.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the small audio microphone with one hand and transfer it", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the dark blue microphone and pass it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Hold the microphone for recording sound with one hand and transfer it", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the round head microphone and hand it over to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the small audio microphone and pass it to another hand", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode301.json b/handover_mic/franka_randomized_500/instructions/episode301.json new file mode 100644 index 0000000000000000000000000000000000000000..c1122263d385d8bf73be837ad0f33796a5443a1b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode301.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sound microphone with teal body and deliver it to the other side.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Pick up the teal microphone and hand it to the other side.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Take the handheld teal microphone and move it to another hand.", + "Lift the textured white microphone head and pass it across.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Hold the microphone with slider switch and deliver it to another side.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grasp the microphone with white rounded head and pass it across.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Lift the teal microphone and deliver it to the other side.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the textured white microphone head and move it to the other hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Lift the sound microphone with teal body and pass it across.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Take the textured white microphone head and pass it to another hand", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grasp the compact teal and white microphone and pass it across.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Hold the teal microphone securely and shift it to another arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the microphone with white rounded head, then give it to the other arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode302.json b/handover_mic/franka_randomized_500/instructions/episode302.json new file mode 100644 index 0000000000000000000000000000000000000000..6769cbfbd620409cc704c4f675f88c9a3ac3e635 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode302.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with round foam head from the surface and switch hands.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the small audio microphone and hand it to someone else.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the round head microphone and pass it to another hand", + "Lift the small audio microphone and hand it to someone else.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone for recording sound and shift it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Seize the round head microphone and offer it to the other arm", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the microphone with round foam head and move it to another hand." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode303.json b/handover_mic/franka_randomized_500/instructions/episode303.json new file mode 100644 index 0000000000000000000000000000000000000000..0a0304e6ca7ec2dc31e3ca8ef3f1f81b2da16238 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode303.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Seize the teal microphone and offer it to the other arm", + "Hold the handheld teal microphone with one hand and transfer it", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Grasp the teal microphone and pass it across.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Pick the teal microphone and transfer it to the other arm.", + "Take the teal microphone and pass it to another hand", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grip the microphone with slider switch and pass it to the other side", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Lift the microphone with slider switch and hand it to someone else.", + "Lift the white and teal sound microphone and pass it across.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Hold the microphone with slider switch and deliver it to another side.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Take the textured white microphone head and move it to the other hand.", + "Grab the teal microphone and transfer it to another hand", + "Grasp the rounded white tip microphone and pass it across.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grip the handheld teal microphone and pass it to the other side", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Lift the teal microphone and pass it across.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the teal microphone with one hand and transfer it", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode304.json b/handover_mic/franka_randomized_500/instructions/episode304.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc2a7542580db66b234588ad25c15b91ad66753 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode304.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the metal head microphone from the surface and switch hands.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Seize the compact size microphone and offer it to the other arm", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Hold the handheld microphone and shift it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Take the black and white microphone and move it to another hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Lift the compact size microphone and hand it over to the other side.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and deliver it to the other side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Hold the handheld microphone and deliver it to another side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the metal head microphone, then pass it across without delay.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the black and white microphone and pass it to the other hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the compact size microphone and hand it to someone else.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Seize the handheld microphone and offer it to the other arm", + "Secure the microphone for voice recording using one arm and transfer it.", + "Take the microphone for voice recording and pass it to another hand", + "Grip the metal head microphone and pass it to the other side", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Grasp the microphone with black tip and white body and pass it across.", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the compact size microphone and switch it to another hand.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the handheld microphone and deliver it to another side.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the black and white microphone and move it to the other hand.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Secure the metal head microphone using one arm and transfer it.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grab the compact size microphone and give it to the opposite arm." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode305.json b/handover_mic/franka_randomized_500/instructions/episode305.json new file mode 100644 index 0000000000000000000000000000000000000000..7c8c1d85efdf48f6e73e5451a877383fb099f71e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode305.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the microphone for voice recording, then pass it across without delay.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Take the black and white microphone and pass it to another hand", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Take the compact size microphone and move it to the other hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grip the compact size microphone and pass it to the other side", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Lift the black and white microphone and pass it across.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the black and white microphone and pass it to the other hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick up the handheld microphone and hand it to the other side.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the black and white microphone, then pass it across without delay.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the microphone for voice recording and pass it to another hand", + "Hold the microphone for voice recording and shift it to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Take the metal head microphone and move it to the other hand.", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the handheld microphone and pass it across.", + "Grip the handheld microphone and pass it to the other side", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the black and white microphone and deliver it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode306.json b/handover_mic/franka_randomized_500/instructions/episode306.json new file mode 100644 index 0000000000000000000000000000000000000000..4f56881af68505265322a90b87541bf0206052fa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode306.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for voice recording and move it to another hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the metal head microphone and hand it over to the other side.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the microphone with textured metal head and pass it across.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Seize the compact size microphone and offer it to the other arm", + "Use one hand to grab the handheld microphone and pass it.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Grab the microphone for voice recording and transfer it to another hand", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the metal head microphone and shift it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the microphone with textured metal head and deliver it to another side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Secure the handheld microphone from the table and transfer it.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the metal head microphone and pass it across.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Seize the metal head microphone and offer it to the other arm", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grip the handheld microphone and pass it to the other side", + "Grab the white microphone handle black accents and transfer it to another hand", + "Lift the handheld microphone and hand it to the other side easily.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone for voice recording and pass it to another hand", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the metal head microphone and shift it to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Secure the handheld microphone from the table and transfer it.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Take the compact size microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode307.json b/handover_mic/franka_randomized_500/instructions/episode307.json new file mode 100644 index 0000000000000000000000000000000000000000..7257f038712f20f0a2b257be2393bafc3b59f531 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode307.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the metal head microphone and pass it to the other side", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the microphone for voice recording and pass it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Take the microphone with textured metal head and move it to the other hand.", + "Secure the handheld microphone from the table and transfer it.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the mesh-patterned microphone head and pass it across.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Hold the handheld microphone and shift it to the other arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the compact size microphone and pass it to another hand", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone for voice recording and pass it across.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the black and white microphone and hand it to the other side easily.", + "Hold the handheld microphone and deliver it to another side.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the microphone with rounded mesh head and move it to the other hand." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode308.json b/handover_mic/franka_randomized_500/instructions/episode308.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8147877f93a5e8042535ca497e7bec28b7d459 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode308.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the black and white microphone and switch it to another hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Seize the metal head microphone and offer it to the other arm", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the microphone with black tip and white body and move it to another hand.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Take the handheld microphone and move it to the other hand.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Take the handheld microphone and pass it to another hand", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the handheld microphone and hand it over to the other arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Seize the metal head microphone and offer it to the other arm", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Take the black and white microphone and move it to another hand.", + "Hold the handheld microphone with one hand and transfer it", + "Grasp the metal head microphone, then give it to the other arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Use one hand to grab the compact size microphone and pass it.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the metal head microphone and move it to the other hand.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Hold the metal head microphone and shift it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grasp the handheld microphone and switch it to another hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode309.json b/handover_mic/franka_randomized_500/instructions/episode309.json new file mode 100644 index 0000000000000000000000000000000000000000..78bcc668c1c1909b064ca94b9069ae5eccd9c595 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode309.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the teal microphone and transfer it to another hand", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grip the rounded white tip microphone and pass it to the other side", + "Grasp the textured white microphone head and pass it across.", + "Take the microphone with white rounded head and move it to another hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the teal microphone and pass it.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the handheld teal microphone and transfer it to another hand", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Secure the textured white microphone head from the table and transfer it.", + "Hold the teal microphone and pass it to the other hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Take the handheld teal microphone and move it to another hand.", + "Seize the teal microphone and offer it to the other arm", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Take the textured white microphone head and pass it to another hand", + "Lift the plastic teal microphone with slider and pass it across.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grasp the teal microphone and switch it to another hand.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the teal microphone and hand it over to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Reach for the teal microphone and move it to the other hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Secure the teal microphone from the table and transfer it.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grasp the white and teal sound microphone and pass it across.", + "Take the compact teal and white microphone and move it to another hand.", + "Seize the teal microphone and offer it to the other arm", + "Hold the microphone with slider switch firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode31.json b/handover_mic/franka_randomized_500/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..6bb44913286f57d5f82e95d6c50b974757e4fa27 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the handheld microphone and hand it over to the other arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Seize the black and white microphone and offer it to the other arm", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the black and white microphone and deliver it to the other side.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other arm.", + "Hold the handheld microphone and shift it to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the compact size microphone and move it to the other hand.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the metal head microphone and hand it to someone else.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the metal head microphone securely and shift it to another arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the black and white microphone and pass it across.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Grasp the metal head microphone and pass it across.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Use one hand to grab the handheld microphone and pass it.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode311.json b/handover_mic/franka_randomized_500/instructions/episode311.json new file mode 100644 index 0000000000000000000000000000000000000000..4fc5b3daa80218f6fbfd826fe6b7bb4005b9a3d2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode311.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small audio microphone and hand it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the dark blue microphone and pass it across.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grip the microphone with round foam head and pass it to the other side", + "Lift the small audio microphone and pass it across.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the round head microphone and hand it to the other side easily.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the round head microphone and deliver it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Use one hand to grab the round head microphone and pass it.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode312.json b/handover_mic/franka_randomized_500/instructions/episode312.json new file mode 100644 index 0000000000000000000000000000000000000000..421b2ff129f226946670a9ce86564979fc6377a7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode312.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact size microphone with one hand and transfer it", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the black and white microphone and deliver it to the other side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grab the handheld microphone and transfer it to another hand", + "Take the black and white microphone and move it to the other hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Use one hand to grab the handheld microphone and pass it.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the handheld microphone and shift it to the other arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Secure the handheld microphone from the table and transfer it.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the microphone with cylindrical handle and pass it to another hand", + "Reach for the black and white microphone and move it to the other hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the compact size microphone and move it to another hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the metal head microphone with one hand and transfer it", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the black and white microphone and deliver it to the other side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the black and white microphone and pass it to the other hand.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the compact size microphone and pass it across.", + "Use one hand to grab the black and white microphone and pass it.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and pass it across.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Hold the metal head microphone and shift it to the other arm.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the microphone for voice recording and pass it to another hand", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the microphone for voice recording and deliver it to the other side.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode313.json b/handover_mic/franka_randomized_500/instructions/episode313.json new file mode 100644 index 0000000000000000000000000000000000000000..62f21f2c20cec8770f4286d94fcb9af02bf6ba41 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode313.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head and pass it across.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the compact size microphone and pass it across.", + "Pick the handheld microphone from the surface and switch hands.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Lift the black and white microphone and hand it over to the other side.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the metal head microphone and move it to another hand.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and pass it across.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the compact size microphone and move it to the other hand.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Lift the handheld microphone and pass it across.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Pick up the metal head microphone and move it to the opposite side", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and pass it across.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Secure the white microphone handle black accents from the table and transfer it." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode314.json b/handover_mic/franka_randomized_500/instructions/episode314.json new file mode 100644 index 0000000000000000000000000000000000000000..311d2a77d39d70527cf1dfb8b8b8100a2b4fe26d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode314.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone and move it to the other hand.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the microphone with textured metal head and pass it across.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick the black and white microphone from the surface and switch hands.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Seize the handheld microphone and offer it to the other arm", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Reach for the handheld microphone and move it to the other hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the compact size microphone and hand it over to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the microphone with textured metal head and pass it across.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Seize the compact size microphone and offer it to the other arm", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Reach for the metal head microphone and move it to the other hand.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grip the metal head microphone and pass it to the other side", + "Hold the black and white microphone securely and shift it to another arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the handheld microphone and shift it to the other arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Lift the metal head microphone and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Pick the handheld microphone from the surface and switch hands.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode316.json b/handover_mic/franka_randomized_500/instructions/episode316.json new file mode 100644 index 0000000000000000000000000000000000000000..33e39efa17ffaa4646843ef9df0b9266ed89c2a5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode316.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grip the handheld microphone and pass it to the other side", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the handheld microphone and move it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the compact size microphone and deliver it to another side.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grasp the white microphone handle black accents and pass it across.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grip the metal head microphone and pass it to the other side", + "Hold the metal head microphone with one hand and transfer it", + "Take the white microphone handle black accents and move it to another hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the black and white microphone and pass it to another hand", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Secure the white microphone handle black accents from the table and transfer it." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode317.json b/handover_mic/franka_randomized_500/instructions/episode317.json new file mode 100644 index 0000000000000000000000000000000000000000..ed446b12c0f30cfe858c1e50bc3f0b7b0895adad --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode317.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick the small audio microphone from the surface and switch hands.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the round head microphone and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grip the microphone for recording sound and pass it to the other side", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the round head microphone and pass it across.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Hold the round head microphone with one hand and transfer it", + "Pick the round head microphone from the surface and switch hands.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the small audio microphone and deliver it to another side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Reach for the dark blue microphone and move it to the other hand.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the round head microphone and move it to the other hand.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Use one hand to grab the microphone with round foam head and pass it." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode318.json b/handover_mic/franka_randomized_500/instructions/episode318.json new file mode 100644 index 0000000000000000000000000000000000000000..5405334147e7bdbf1a251569924e0bbbd3515219 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode318.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone for recording sound and pass it across.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the round head microphone and move it to the opposite side", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the round head microphone with one hand and transfer it", + "Grasp the microphone with smooth gray stem and pass it across.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the microphone for recording sound and pass it across.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the small audio microphone and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Secure the dark blue microphone using one arm and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the microphone with round foam head and pass it across.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the small audio microphone and pass it to another hand", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick up the small audio microphone and hand it to the other side." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode319.json b/handover_mic/franka_randomized_500/instructions/episode319.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2735a9418352ce11ba63ad953ee3032a11022d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode319.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Lift the teal microphone and hand it to the other side easily.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the textured white microphone head and move it to the other hand.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Take the rounded white tip microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the teal microphone and hand it over to the other arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the teal microphone and hand it to someone else.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Take the microphone with slider switch and move it to the other hand.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider and pass it across.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Pick up the teal microphone and hand it to the other side.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Use one hand to grab the teal microphone and pass it.", + "Hold the teal microphone and pass it to the other hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Pick up the textured white microphone head and move it to the opposite side", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Lift the textured white microphone head and deliver it to the other side.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Hold the microphone with slider switch and deliver it to another side." + ], + "unseen": [ + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode32.json b/handover_mic/franka_randomized_500/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d1a985f8d050ef080e12555dab61b1a17339b5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Grasp the teal microphone, then give it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Secure the teal microphone from the table and transfer it.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Take the textured white microphone head and move it to another hand.", + "Pick the textured white microphone head from the surface and switch hands.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Lift the microphone with slider switch and pass it across.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Grasp the teal microphone and pass it across.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Lift the white and teal sound microphone and hand it to someone else.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Hold the teal microphone and deliver it to another side.", + "Grasp the textured white microphone head and switch it to another hand.", + "Grip the microphone with white rounded head and pass it to the other side", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the handheld teal microphone and pass it across.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Grasp the teal microphone and pass it across.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Hold the teal microphone with one hand and transfer it", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the microphone with white rounded head and pass it to the other hand." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode320.json b/handover_mic/franka_randomized_500/instructions/episode320.json new file mode 100644 index 0000000000000000000000000000000000000000..b2508e73f5dffd6d4db89a81dd1c7268574c40c8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode320.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Hold the black and white microphone securely and shift it to another arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Secure the handheld microphone using one arm and transfer it.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Take the black and white microphone and pass it to another hand", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the handheld microphone and move it to another hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the black and white microphone with one hand and transfer it", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the handheld microphone and deliver it to another side.", + "Seize the handheld microphone and offer it to the other arm", + "Lift the microphone for voice recording and pass it across.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the black and white microphone and hand it to someone else.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grip the metal head microphone and pass it to the other side", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the metal head microphone and pass it to another hand", + "Grasp the white microphone handle black accents and pass it across.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the metal head microphone and move it to another hand.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the microphone for voice recording and deliver it to another side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Lift the smooth plastic microphone handle and pass it across.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the handheld microphone securely and shift it to another arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Secure the microphone for voice recording from the table and transfer it.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Secure the microphone with rounded mesh head using one arm and transfer it." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode321.json b/handover_mic/franka_randomized_500/instructions/episode321.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f8bd0499cd0f11e8048e777ee4c2ecfd25261e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode321.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the microphone with cylindrical handle and pass it across.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Take the metal head microphone and pass it to another hand", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Secure the microphone for voice recording using one arm and transfer it.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the black and white microphone and hand it to someone else.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Seize the black and white microphone and offer it to the other arm", + "Grip the microphone for voice recording and pass it to the other side", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grasp the white microphone handle black accents and pass it across.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the compact size microphone and pass it across.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Take the handheld microphone and pass it to another hand", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the metal head microphone with one hand and transfer it", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Seize the compact size microphone and offer it to the other arm", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Lift the white microphone handle black accents and pass it across.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the black and white microphone and move it to another hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode322.json b/handover_mic/franka_randomized_500/instructions/episode322.json new file mode 100644 index 0000000000000000000000000000000000000000..e157e76a05f1c6e9fbcc5394efcf1885207f3d6f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode322.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the handheld teal microphone from the table and transfer it.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grasp the microphone with slider switch and pass it across.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Grasp the teal microphone and switch it to another hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Take the textured white microphone head and move it to the other hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the long microphone with smooth teal grip and pass it across.", + "Take the microphone with slider switch and move it to another hand.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grip the teal microphone and pass it to the other side", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grasp the rounded white tip microphone and pass it across.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Take the compact teal and white microphone and pass it to another hand", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick the teal microphone and transfer it to the other arm.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the microphone with white rounded head and pass it across.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grip the compact teal and white microphone and pass it to the other side", + "Secure the teal microphone from the table and transfer it.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode327.json b/handover_mic/franka_randomized_500/instructions/episode327.json new file mode 100644 index 0000000000000000000000000000000000000000..de15397b56e4b459e9c9df7b2fbd80320e2eff9f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode327.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Take the microphone for voice recording and pass it to another hand", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the microphone for voice recording and move it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the handheld microphone and pass it across.", + "Lift the handheld microphone, then pass it across without delay.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Seize the handheld microphone and offer it to the other arm", + "Take the microphone with black tip and white body and pass it to another hand", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the black and white microphone and move it to the other hand.", + "Hold the metal head microphone and deliver it to another side.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grip the microphone for voice recording and pass it to the other side", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Grasp the compact size microphone and pass it across.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the black and white microphone and deliver it to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grab the compact size microphone and give it to the opposite arm.", + "Secure the compact size microphone from the table and transfer it.", + "Secure the metal head microphone using one arm and transfer it.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the black and white microphone and transfer it to another hand", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone for voice recording and pass it to another hand", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Pick up the black and white microphone and move it to the opposite side", + "Take the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the metal head microphone and shift it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode329.json b/handover_mic/franka_randomized_500/instructions/episode329.json new file mode 100644 index 0000000000000000000000000000000000000000..2b06fc3241ac92441f1496323e8699873dd648c3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode329.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the black and white microphone and hand it to someone else.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick the handheld microphone from the surface and switch hands.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Secure the metal head microphone from the table and transfer it.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the white microphone handle black accents and pass it across.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the compact size microphone and deliver it to another side.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use one hand to grab the black and white microphone and pass it.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick the handheld microphone from the surface and switch hands.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Grip the black and white microphone and pass it to the other side", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the compact size microphone and pass it across.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Take the handheld microphone and move it to the other hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Hold the handheld microphone and deliver it to another side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Take the handheld microphone and pass it to another hand", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Lift the metal head microphone and hand it to someone else.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grab the handheld microphone and transfer it to another hand" + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode33.json b/handover_mic/franka_randomized_500/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..7a98ec1b59461bc289a9159e8e099cbf8d709c0c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone with round foam head with one hand and transfer it", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Pick up the dark blue microphone and move it to the opposite side", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the round head microphone and move it to another hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grab the small audio microphone and transfer it to another hand", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the microphone with round foam head with one hand and transfer it", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the small audio microphone and move it to the opposite side", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the round head microphone and move it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the small audio microphone and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the round head microphone and hand it over to the other side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick up the dark blue microphone and hand it to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone with round foam head with one hand and transfer it", + "Use one arm to pick up the round head microphone and give it to the other." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode331.json b/handover_mic/franka_randomized_500/instructions/episode331.json new file mode 100644 index 0000000000000000000000000000000000000000..ad069d7cbf8a028e1ccfb711ebc0ae61fe17f32e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode331.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Hold the metal head microphone and shift it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the microphone with textured metal head and pass it across.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grasp the compact size microphone and pass it across.", + "Take the handheld microphone and move it to the other hand.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the handheld microphone and switch it to another hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grip the metal head microphone and pass it to the other side", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the black and white microphone and move it to the opposite side", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Secure the black and white microphone from the table and transfer it.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Lift the microphone for voice recording and pass it across.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Take the metal head microphone and pass it to another hand", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Hold the compact size microphone and pass it to the other hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grasp the black and white microphone and pass it across.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the metal head microphone and move it to another hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Secure the microphone for voice recording from the table and transfer it.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode332.json b/handover_mic/franka_randomized_500/instructions/episode332.json new file mode 100644 index 0000000000000000000000000000000000000000..2f43a7f0bec489dfb7c5923143935f35082d3414 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode332.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Lift the teal microphone and pass it across.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the teal microphone and switch it to another hand.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Secure the microphone with slider switch using one arm and transfer it.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the textured white microphone head and deliver it to the other side.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grip the textured white microphone head and pass it to the other side", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grab the textured white microphone head and transfer it to another hand", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the textured white microphone head and switch it to another hand.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Hold the teal microphone and shift it to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the rounded white tip microphone and pass it to another hand", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the textured white microphone head securely and shift it to another arm.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Take the teal microphone, shift it, and release it to the other side.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Lift the teal microphone and pass it across.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Hold the teal microphone and deliver it to another side.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grab the teal microphone using the left arm and pass it over to the right arm." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode334.json b/handover_mic/franka_randomized_500/instructions/episode334.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a600593200810089eecd949e5f07e3eefc6fe1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode334.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the round head microphone and hand it to someone else.", + "Lift the round head microphone and hand it to the other side easily.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the microphone for recording sound and pass it to another hand", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the dark blue microphone and deliver it to another side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the round head microphone with one hand and transfer it", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grab the round head microphone and transfer it to another hand", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grip the small audio microphone and pass it to the other side", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the small audio microphone and pass it to another hand", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Grab the small audio microphone and transfer it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode335.json b/handover_mic/franka_randomized_500/instructions/episode335.json new file mode 100644 index 0000000000000000000000000000000000000000..cae37c7901f83063000e642d3f4671ab9019f975 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode335.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Use one hand to grab the teal microphone and pass it.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Lift the teal microphone and hand it to the other side easily.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the microphone with white rounded head and hand it to someone else.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the teal microphone and switch it to another hand.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Seize the handheld teal microphone and offer it to the other arm", + "Grasp the white and teal sound microphone and pass it across.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Lift the microphone with slider switch and pass it across.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grip the white and teal sound microphone and pass it to the other side", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the teal microphone and give it to the opposite arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Take the textured white microphone head and move it to another hand.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to the other hand.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Take the rounded white tip microphone and pass it to another hand", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grasp the textured white microphone head and pass it across.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Lift the handheld teal microphone and pass it across.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Grab the teal microphone and give it to the opposite arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Pick the handheld teal microphone and transfer it to the other arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode336.json b/handover_mic/franka_randomized_500/instructions/episode336.json new file mode 100644 index 0000000000000000000000000000000000000000..2a43cb8661911bbb3fcc43e455ff744f75c071f0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode336.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Lift the round head microphone and hand it to someone else.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Take the round head microphone and move it to another hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the small audio microphone and deliver it to another side.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the round head microphone and pass it across.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the small audio microphone and deliver it to the other side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the dark blue microphone with one hand and transfer it", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the round head microphone and pass it to another hand", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the round head microphone and move it to the other hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Take the round head microphone and move it to another hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the round head microphone and pass it across.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the small audio microphone and deliver it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use one hand to grab the round head microphone and pass it.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the small audio microphone with one hand and transfer it", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the microphone for recording sound and transfer it to another hand", + "Reach for the small audio microphone and move it to the other hand.", + "Secure the microphone with round foam head using one arm and transfer it." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode338.json b/handover_mic/franka_randomized_500/instructions/episode338.json new file mode 100644 index 0000000000000000000000000000000000000000..883201cb0f17942c02063d94d0e6f40d06dcf4df --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode338.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the teal microphone from the table and transfer it.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the white and teal sound microphone and move it to another hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Seize the white and teal sound microphone and offer it to the other arm", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Grip the white and teal sound microphone and pass it to the other side", + "Take the textured white microphone head and move it to the other hand.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Lift the teal microphone, then pass it across without delay.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Take the teal microphone and pass it to another hand", + "Grasp the plastic teal microphone with slider and pass it across.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Hold the teal microphone and pass it to the other hand.", + "Secure the microphone with slider switch from the table and transfer it.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the teal microphone and hand it to someone else.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Take the compact teal and white microphone and move it to another hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Seize the handheld teal microphone and offer it to the other arm", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Grip the rounded white tip microphone and pass it to the other side", + "Take the sound microphone with teal body and move it to the other hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the long microphone with smooth teal grip and move it to another hand." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode34.json b/handover_mic/franka_randomized_500/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..d36f451a7f69a9ab06658b7d23457c5318966902 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the microphone with dark blue padding and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the round head microphone and pass it to another hand", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grasp the small audio microphone and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the microphone for recording sound and pass it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the round head microphone and deliver it to the other side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the dark blue microphone and pass it across.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it" + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode340.json b/handover_mic/franka_randomized_500/instructions/episode340.json new file mode 100644 index 0000000000000000000000000000000000000000..34f63058f08bb4d0b8ef8cc784bd0cc67906c6bf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode340.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Hold the metal head microphone and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick up the compact size microphone and hand it to the other side.", + "Pick the metal head microphone from the surface and switch hands.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Take the metal head microphone and pass it to another hand", + "Seize the metal head microphone and offer it to the other arm", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Lift the black and white microphone and deliver it to the other side.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the metal head microphone and pass it to the other hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the compact size microphone and switch it to another hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the black and white microphone and pass it to another hand", + "Seize the white microphone handle black accents and offer it to the other arm", + "Take the microphone for voice recording and move it to another hand.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Lift the metal head microphone, then pass it across without delay.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the microphone for voice recording with the right arm and give it to the left arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode341.json b/handover_mic/franka_randomized_500/instructions/episode341.json new file mode 100644 index 0000000000000000000000000000000000000000..358928655b1efb009dfa29c5108bb7037cc81645 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode341.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the dark blue microphone and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the round head microphone and pass it across.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the small audio microphone and deliver it to another side.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Secure the round head microphone from the table and transfer it.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the dark blue microphone and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the dark blue microphone and hand it to someone else.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the dark blue microphone and shift it to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the microphone with round foam head and move it to another hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the microphone for recording sound and pass it across.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the round head microphone and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Take the dark blue microphone and pass it to another hand", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Use one hand to grab the round head microphone and pass it.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grasp the dark blue microphone and pass it across.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode342.json b/handover_mic/franka_randomized_500/instructions/episode342.json new file mode 100644 index 0000000000000000000000000000000000000000..f6eceb7afec3b8f8fed57041c6e5df893c393070 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode342.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the textured white microphone head and deliver it to the other side.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the teal microphone and move it to the other hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Lift the handheld teal microphone and pass it across.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Take the handheld teal microphone and move it to another hand.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the textured white microphone head, then pass it across without delay.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grasp the microphone with slider switch and pass it across.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Hold the textured white microphone head and pass it to the other hand.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Take the microphone with slider switch and pass it to another hand", + "Hold the textured white microphone head securely and shift it to another arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Pick up the teal microphone and move it to the opposite side", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grasp the textured white microphone head and switch it to another hand.", + "Secure the microphone with slider switch from the table and transfer it.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Grab the teal microphone and transfer it to another hand", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Lift the teal microphone and pass it across.", + "Pick up the textured white microphone head and hand it to the other side.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the handheld teal microphone and move it to another hand.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Take the teal microphone, shift it, and release it to the other side.", + "Grasp the textured white microphone head and pass it across.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode343.json b/handover_mic/franka_randomized_500/instructions/episode343.json new file mode 100644 index 0000000000000000000000000000000000000000..2a94b3ab9efae764a431a946179d5ab2883655c6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode343.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Secure the metal head microphone using one arm and transfer it.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Secure the metal head microphone from the table and transfer it.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Hold the metal head microphone and deliver it to another side.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and pass it across.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the metal head microphone and hand it over to the other arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Grasp the handheld microphone and switch it to another hand.", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the black and white microphone and hand it to the other side easily.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the compact size microphone and pass it across.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the handheld microphone and pass it across.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the microphone for voice recording and pass it across.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the handheld microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode344.json b/handover_mic/franka_randomized_500/instructions/episode344.json new file mode 100644 index 0000000000000000000000000000000000000000..fa2249ddfd500f7c69e3f90f4114ba3ba813f492 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode344.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Secure the teal microphone using one arm and transfer it.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Pick the teal microphone and transfer it to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Lift the compact teal and white microphone and pass it across.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Take the compact teal and white microphone and move it to another hand.", + "Hold the teal microphone and shift it to the other arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Take the sound microphone with teal body and move it to the other hand.", + "Secure the textured white microphone head from the table and transfer it.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Secure the teal microphone using one arm and transfer it.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the teal microphone and pass it to another hand", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the teal microphone and switch it to another hand.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Lift the compact teal and white microphone and pass it across.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the rounded white tip microphone and move it to another hand.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Use one hand to grab the teal microphone and pass it.", + "Take the white and teal sound microphone and move it to the other hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the rounded white tip microphone and pass it to another hand", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Grasp the microphone with slider switch and pass it across." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode345.json b/handover_mic/franka_randomized_500/instructions/episode345.json new file mode 100644 index 0000000000000000000000000000000000000000..20c4c6673391004eca07a413e021228ecf64404c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode345.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with white rounded head and hand it to someone else.", + "Reach for the textured white microphone head and move it to the other hand.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Grasp the textured white microphone head and pass it across.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Take the microphone with slider switch and pass it to another hand", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grip the compact teal and white microphone and pass it to the other side", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Take the rounded white tip microphone and move it to another hand.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the rounded white tip microphone and pass it across.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the microphone with white rounded head and pass it to another hand", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grip the white and teal sound microphone and pass it to the other side", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode346.json b/handover_mic/franka_randomized_500/instructions/episode346.json new file mode 100644 index 0000000000000000000000000000000000000000..fba5bafe4815f2259f701f0c58b2fc5648631d8a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode346.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to another hand.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the black and white microphone, then pass it across without delay.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Hold the metal head microphone securely and shift it to another arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the metal head microphone and deliver it to another side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the white microphone handle black accents and pass it across.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone with cylindrical handle and move it to another hand.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the handheld microphone securely and shift it to another arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the metal head microphone and hand it over to the other arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the metal head microphone and pass it across.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Seize the compact size microphone and offer it to the other arm", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the black and white microphone and move it to another hand.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the smooth plastic microphone handle securely and shift it to another arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode347.json b/handover_mic/franka_randomized_500/instructions/episode347.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0686fcfd4433d25e3a62cf3356d7baebca3170 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode347.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the teal microphone and hand it over to the other side.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grip the textured white microphone head and pass it to the other side", + "Hold the microphone with slider switch and deliver it to another side.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the microphone with white rounded head and move it to another hand.", + "Take the textured white microphone head and pass it to another hand", + "Hold the teal microphone with one hand and transfer it", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grasp the microphone with slider switch and pass it across.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Lift the teal microphone and hand it to someone else.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the textured white microphone head and hand it over to the other side.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grip the teal microphone and pass it to the other side", + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Secure the textured white microphone head using one arm and transfer it.", + "Lift the textured white microphone head and pass it across.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Reach for the textured white microphone head and move it to the other hand.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Lift the handheld teal microphone and hand it to someone else.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Seize the teal microphone and offer it to the other arm", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the teal microphone using the left arm and transfer it to the right arm." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode348.json b/handover_mic/franka_randomized_500/instructions/episode348.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1e7fd532325aa2e85b66e1df0e7b0887da8e2d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode348.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact size microphone, pass it, and release it to complete the task.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Grasp the black and white microphone, then give it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Lift the handheld microphone and hand it to someone else.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick up the metal head microphone and hand it to the other side.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Take the compact size microphone and move it to the other hand.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Lift the compact size microphone and deliver it to the other side.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the handheld microphone and hand it to the other side easily.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the metal head microphone, then give it to the other arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the metal head microphone and hand it to someone else.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the microphone for voice recording and pass it across.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the black and white microphone and shift it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the compact size microphone and pass it across.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Hold the metal head microphone securely and shift it to another arm.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Take the metal head microphone and pass it to another hand", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Secure the microphone for voice recording from the table and transfer it.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grab the compact size microphone and transfer it to another hand", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the handheld microphone and pass it to the other hand.", + "Secure the microphone for voice recording using one arm and transfer it." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode35.json b/handover_mic/franka_randomized_500/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..25b0a139a46e694e95ba93d7e41d63e535bffeba --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Pick up the round head microphone and move it to the opposite side", + "Take the microphone for recording sound and pass it to another hand", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the dark blue microphone and pass it across.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Take the microphone for recording sound and pass it to another hand", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the small audio microphone and shift it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the round head microphone and switch it to another hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the round head microphone using the left arm and pass it over to the right arm." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode350.json b/handover_mic/franka_randomized_500/instructions/episode350.json new file mode 100644 index 0000000000000000000000000000000000000000..cb653a22f71e84358cdff8414067fd860f4a4762 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode350.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Grab the textured white microphone head and transfer it to another hand", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the compact teal and white microphone and pass it across.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Secure the textured white microphone head using one arm and transfer it.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Lift the teal microphone and hand it over to the other side.", + "Secure the teal microphone from the table and transfer it.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Seize the teal microphone and offer it to the other arm", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the teal microphone and deliver it to another side.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Take the microphone with slider switch and move it to another hand.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Hold the microphone with slider switch with one hand and transfer it", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Take the handheld teal microphone and move it to the other hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Take the teal microphone and move it to another hand.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Grasp the microphone with white rounded head and pass it across.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Reach for the teal microphone and move it to the other hand." + ], + "unseen": [ + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode351.json b/handover_mic/franka_randomized_500/instructions/episode351.json new file mode 100644 index 0000000000000000000000000000000000000000..d22d294f0b87c9339a9dcbfb19fef0c7bca382eb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode351.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the small audio microphone and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the microphone with dark blue padding and move it to the other hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the microphone with round foam head and pass it across.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grip the dark blue microphone and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the small audio microphone and move it to another hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grab the small audio microphone and transfer it to another hand", + "Take the microphone for recording sound and move it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Reach for the small audio microphone and move it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the round head microphone and hand it to someone else.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Lift the round head microphone, then pass it across without delay.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grab the small audio microphone and transfer it to another hand" + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode352.json b/handover_mic/franka_randomized_500/instructions/episode352.json new file mode 100644 index 0000000000000000000000000000000000000000..061f1646b1f9c22a4baa0b2ae5292dc4a0fe1659 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode352.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the compact size microphone and pass it to another hand", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Hold the black and white microphone with one hand and transfer it", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle and pass it across.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the handheld microphone and pass it across.", + "Hold the black and white microphone and deliver it to another side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Pick up the black and white microphone and move it to the opposite side", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the handheld microphone and shift it to the other arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Secure the microphone for voice recording from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the handheld microphone and pass it to the other hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the metal head microphone and move it to the other hand.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grab the metal head microphone and give it to the opposite arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle and pass it across.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the microphone for voice recording and pass it across.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Reach for the compact size microphone and move it to the other hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the metal head microphone, then give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Secure the metal head microphone from the table and transfer it." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode354.json b/handover_mic/franka_randomized_500/instructions/episode354.json new file mode 100644 index 0000000000000000000000000000000000000000..db23f83fdfc3855c5540a7042d32c3addc99f1d2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode354.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grip the metal head microphone and pass it to the other side", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the black and white microphone, then give it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the metal head microphone with one hand and transfer it", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the black and white microphone and switch it to another hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grab the compact size microphone and give it to the opposite arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Take the microphone for voice recording and pass it to another hand", + "Grip the handheld microphone and pass it to the other side", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the handheld microphone and move it to the other hand.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the metal head microphone and hand it to the other side easily.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the microphone for voice recording and pass it across.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the handheld microphone and pass it across.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the black and white microphone and pass it to another hand", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the metal head microphone and move it to the other hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode355.json b/handover_mic/franka_randomized_500/instructions/episode355.json new file mode 100644 index 0000000000000000000000000000000000000000..e2bcdc6e5ee36226f983cd5bcfdc3607fbe841d4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode355.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal head microphone, then pass it across without delay.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grip the compact size microphone and pass it to the other side", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the metal head microphone and pass it across.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the black and white microphone and pass it to another hand", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Hold the handheld microphone securely and shift it to another arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the compact size microphone and move it to another hand.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Hold the compact size microphone and deliver it to another side.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Secure the black and white microphone from the table and transfer it.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick the compact size microphone and transfer it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the handheld microphone with one hand and transfer it", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grasp the metal head microphone and pass it across.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Secure the compact size microphone from the table and transfer it.", + "Reach for the metal head microphone and move it to the other hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grip the black and white microphone and pass it to the other side", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the black and white microphone and pass it across." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode356.json b/handover_mic/franka_randomized_500/instructions/episode356.json new file mode 100644 index 0000000000000000000000000000000000000000..1f052da3d050ed9e79f89293cc69e4d06d4f3452 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode356.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld microphone and hand it to someone else.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Secure the microphone for voice recording from the table and transfer it.", + "Pick the handheld microphone from the surface and switch hands.", + "Reach for the compact size microphone and move it to the other hand.", + "Take the compact size microphone and move it to the other hand.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Secure the black and white microphone using one arm and transfer it.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Use one hand to grab the metal head microphone and pass it.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the black and white microphone and pass it across.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grab the metal head microphone and transfer it to another hand", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grasp the metal head microphone and pass it across.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick the metal head microphone from the surface and switch hands.", + "Reach for the black and white microphone and move it to the other hand.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Seize the handheld microphone and offer it to the other arm", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grip the black and white microphone and pass it to the other side", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the metal head microphone and pass it across.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the metal head microphone and hand it over to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the metal head microphone with one hand and transfer it", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the compact size microphone and pass it across.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the metal head microphone and hand it to someone else.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Secure the metal head microphone from the table and transfer it.", + "Pick the black and white microphone from the surface and switch hands.", + "Reach for the handheld microphone and move it to the other hand.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Secure the mesh-patterned microphone head using one arm and transfer it." + ], + "unseen": [ + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode357.json b/handover_mic/franka_randomized_500/instructions/episode357.json new file mode 100644 index 0000000000000000000000000000000000000000..09c3868fbda351ca489c6d74b3a8484790daa670 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode357.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the round head microphone and deliver it to another side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grasp the microphone with round foam head and pass it across.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the microphone for recording sound and move it to another hand.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the dark blue microphone and deliver it to another side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the round head microphone and deliver it to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the round head microphone and pass it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone with round foam head and pass it to another hand" + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode358.json b/handover_mic/franka_randomized_500/instructions/episode358.json new file mode 100644 index 0000000000000000000000000000000000000000..40ea342ac76d8240ee1ce7ebe7dab97e3eb9e419 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode358.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Lift the compact size microphone and hand it to someone else.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grab the compact size microphone and transfer it to another hand", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the handheld microphone and move it to the other hand.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the metal head microphone with one hand and transfer it", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the metal head microphone and pass it to another hand", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Take the microphone for voice recording and move it to another hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick the black and white microphone and transfer it to the other arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the black and white microphone and pass it to another hand", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Grip the handheld microphone and pass it to the other side", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode359.json b/handover_mic/franka_randomized_500/instructions/episode359.json new file mode 100644 index 0000000000000000000000000000000000000000..c86da3e88ffb9ec271248f7ae25a2180ebc5ab2d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode359.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for voice recording and pass it across.", + "Lift the compact size microphone and pass it across.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grasp the metal head microphone and switch it to another hand.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and deliver it to the other side.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Take the compact size microphone and move it to another hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Pick the handheld microphone and transfer it to the other arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Take the handheld microphone, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Lift the metal head microphone and pass it across.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grip the handheld microphone and pass it to the other side", + "Grasp the metal head microphone and switch it to another hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Take the handheld microphone and move it to another hand.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick the handheld microphone from the surface and switch hands.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the handheld microphone and pass it to another hand", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the black and white microphone and switch it to another hand.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode36.json b/handover_mic/franka_randomized_500/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..004148039aec3fa9dee4fcd8bab77a8a07b5b6d8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick up the metal head microphone and hand it to the other side.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Lift the compact size microphone and hand it to someone else.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grasp the metal head microphone and switch it to another hand.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the handheld microphone and pass it to the other hand.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Lift the black and white microphone, then pass it across without delay.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the microphone for voice recording and pass it across.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the metal head microphone and move it to the other hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grip the compact size microphone and pass it to the other side", + "Grab the black and white microphone and transfer it to another hand", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the black and white microphone and deliver it to the other side.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the black and white microphone and pass it across.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the handheld microphone and shift it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grip the microphone with textured metal head and pass it to the other side", + "Grab the compact size microphone and transfer it to another hand", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Take the microphone for voice recording and move it to another hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the metal head microphone and hand it to someone else.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode360.json b/handover_mic/franka_randomized_500/instructions/episode360.json new file mode 100644 index 0000000000000000000000000000000000000000..1f70135cb59dc7010278cbf4ca596e380ab16cb0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode360.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Lift the teal microphone, then pass it across without delay.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the handheld teal microphone and move it to another hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grasp the white and teal sound microphone and pass it across.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Pick the textured white microphone head from the surface and switch hands.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Seize the teal microphone and offer it to the other arm", + "Lift the microphone with slider switch, then pass it across without delay.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Take the microphone with slider switch and pass it to another hand", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the compact teal and white microphone and hand it to someone else.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the rounded white tip microphone and move it to another hand.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Lift the rounded white tip microphone and pass it across.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Pick up the microphone with white rounded head and transfer it to the opposite side." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode361.json b/handover_mic/franka_randomized_500/instructions/episode361.json new file mode 100644 index 0000000000000000000000000000000000000000..dd5a7df9c2e87921cd3d3c11d20a109eb260f7af --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode361.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round head microphone and pass it to the other hand.", + "Take the small audio microphone and move it to the other hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the audio microphone with soft covering and pass it across.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the round head microphone and shift it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head and move it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Seize the round head microphone and offer it to the other arm", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the round head microphone and pass it across.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the round head microphone with one hand and transfer it", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Take the round head microphone and pass it to another hand", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone and move it to another hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the round head microphone and move it to the other hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Seize the round head microphone and offer it to the other arm", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the audio microphone with soft covering and pass it across." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode363.json b/handover_mic/franka_randomized_500/instructions/episode363.json new file mode 100644 index 0000000000000000000000000000000000000000..14b75f0906441967070a63effd8b4fa3cf384f94 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode363.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black and white microphone and switch it to another hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grip the metal head microphone and pass it to the other side", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the handheld microphone and move it to another hand.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the compact size microphone and pass it to another hand", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Seize the compact size microphone and offer it to the other arm", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the metal head microphone and move it to the other hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Lift the metal head microphone and pass it across.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Secure the metal head microphone from the table and transfer it.", + "Grasp the metal head microphone and pass it across.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Take the metal head microphone and move it to the other hand.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the white microphone handle black accents and pass it across.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Pick the handheld microphone from the surface and switch hands.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the compact size microphone and deliver it to another side.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grasp the compact size microphone and switch it to another hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the compact size microphone and deliver it to the other side.", + "Grip the compact size microphone and pass it to the other side", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode364.json b/handover_mic/franka_randomized_500/instructions/episode364.json new file mode 100644 index 0000000000000000000000000000000000000000..11bc2359c3c4501cf764efc7d411841bfea0736f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode364.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic teal microphone with slider and pass it across.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Pick the teal microphone from the surface and switch hands.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the teal microphone and deliver it to another side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Lift the teal microphone and hand it over to the other arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Lift the teal microphone and hand it over to the other side.", + "Lift the teal microphone and hand it to the other side easily.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the teal microphone and shift it to the other arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Secure the teal microphone using one arm and transfer it.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Secure the teal microphone from the table and transfer it.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Hold the teal microphone securely and shift it to another arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grab the handheld teal microphone and transfer it to another hand", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Secure the microphone with slider switch from the table and transfer it.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body and pass it across.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick the white and teal sound microphone from the surface and switch hands." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode365.json b/handover_mic/franka_randomized_500/instructions/episode365.json new file mode 100644 index 0000000000000000000000000000000000000000..711faf7597f197bf27ca062b796a9350bffe5160 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode365.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact size microphone and deliver it to another side.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Take the black and white microphone and move it to the other hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Lift the microphone for voice recording and pass it across.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the black and white microphone and switch it to another hand.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Use one hand to grab the handheld microphone and pass it.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the compact size microphone and pass it to another hand", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Take the microphone for voice recording and move it to another hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the white microphone handle black accents and move it to the other hand.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Grasp the compact size microphone and pass it across.", + "Grip the black and white microphone and pass it to the other side", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Reach for the black and white microphone and move it to the other hand.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grasp the microphone for voice recording and switch it to another hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Hold the metal head microphone and deliver it to another side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Take the black and white microphone and move it to another hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the compact size microphone and move it to the other hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode366.json b/handover_mic/franka_randomized_500/instructions/episode366.json new file mode 100644 index 0000000000000000000000000000000000000000..48220c585356e6656b905688a88cab697db5b5e6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode366.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the round head microphone firmly and pass it to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Take the dark blue microphone and pass it to another hand", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Take the round head microphone and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the round head microphone and pass it across." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode367.json b/handover_mic/franka_randomized_500/instructions/episode367.json new file mode 100644 index 0000000000000000000000000000000000000000..8ee2fe8bf718781b9589d5f4583542fcd866c957 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode367.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone for voice recording with one hand and transfer it", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Seize the black and white microphone and offer it to the other arm", + "Grasp the black and white microphone and pass it across.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the metal head microphone and shift it to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Lift the compact size microphone and deliver it to the other side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the compact size microphone and pass it to another hand", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Take the microphone for voice recording and move it to another hand.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the compact size microphone and hand it to the other side easily.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Hold the compact size microphone with one hand and transfer it", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grasp the white microphone handle black accents and pass it across.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the metal head microphone and pass it across.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Lift the compact size microphone and deliver it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Grab the black and white microphone and transfer it to another hand", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the microphone with black tip and white body and pass it across.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode368.json b/handover_mic/franka_randomized_500/instructions/episode368.json new file mode 100644 index 0000000000000000000000000000000000000000..eac8627bddfe4e012e995b1f7bdfcef083c74729 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode368.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Lift the textured white microphone head and hand it to someone else.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Hold the handheld teal microphone with one hand and transfer it", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grasp the teal microphone and shift it to the opposite hand.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the microphone with white rounded head and move it to the other hand.", + "Lift the textured white microphone head and deliver it to the other side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Use one hand to grab the textured white microphone head and pass it.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Take the microphone with slider switch and pass it to another hand", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grab the teal microphone and transfer it to another hand", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Grip the textured white microphone head and pass it to the other side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the microphone with white rounded head and pass it across.", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Pick up the textured white microphone head and move it to the opposite side", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Lift the textured white microphone head and hand it over to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the white and teal sound microphone and hand it to someone else." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode369.json b/handover_mic/franka_randomized_500/instructions/episode369.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e8579fb1d608b88a5d2e3d799046943c97cbaa --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode369.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the microphone for voice recording and pass it across.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the white microphone handle black accents and pass it across.", + "Take the white microphone handle black accents and pass it to another hand", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Hold the metal head microphone and deliver it to another side.", + "Hold the black and white microphone and shift it to the other arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Take the compact size microphone and move it to the other hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grip the compact size microphone and pass it to the other side", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grasp the handheld microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the metal head microphone and hand it over to the other arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the black and white microphone and transfer it to another hand", + "Grab the handheld microphone and give it to the opposite arm.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the handheld microphone and pass it across.", + "Hold the handheld microphone securely and shift it to another arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grip the black and white microphone and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the metal head microphone and hand it to the other side.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Grab the handheld microphone and give it to the opposite arm.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the black and white microphone and pass it across.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the microphone for voice recording and pass it across.", + "Take the white microphone handle black accents and pass it to another hand", + "Lift the microphone with textured metal head and hand it over to the other side." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode370.json b/handover_mic/franka_randomized_500/instructions/episode370.json new file mode 100644 index 0000000000000000000000000000000000000000..4304efa9a888868108eee9f972ea2baf864a22cb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode370.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for voice recording and pass it to another hand", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Hold the black and white microphone and pass it to the other hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Seize the handheld microphone and offer it to the other arm", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the metal head microphone and deliver it to the other side.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the microphone for voice recording and pass it across.", + "Pick the compact size microphone from the surface and switch hands.", + "Take the microphone with textured metal head and pass it to another hand", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Take the black and white microphone and move it to the other hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grasp the compact size microphone, then give it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the compact size microphone with one hand and transfer it", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the handheld microphone and deliver it to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Take the microphone for voice recording and move it to another hand.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Secure the mesh-patterned microphone head from the table and transfer it." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode373.json b/handover_mic/franka_randomized_500/instructions/episode373.json new file mode 100644 index 0000000000000000000000000000000000000000..3f0a16a8a2f535df8ce7476e4dc9500278e22a58 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode373.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Take the teal microphone and move it to another hand.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Reach for the teal microphone and move it to the other hand.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Lift the textured white microphone head and pass it across.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the textured white microphone head and move it to the other hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick the teal microphone from the surface and switch hands.", + "Grip the handheld teal microphone and pass it to the other side", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Secure the microphone with slider switch from the table and transfer it.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick the teal microphone and transfer it to the other arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Secure the textured white microphone head using one arm and transfer it.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Take the rounded white tip microphone and move it to another hand.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Lift the teal microphone and pass it across.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Seize the teal microphone and offer it to the other arm", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the handheld teal microphone and hand it to someone else.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Hold the textured white microphone head and deliver it to another side.", + "Take the teal microphone and move it to another hand.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode374.json b/handover_mic/franka_randomized_500/instructions/episode374.json new file mode 100644 index 0000000000000000000000000000000000000000..c80705335392fbc9d5a78da019c392d62713d9b7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode374.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Take the textured white microphone head and pass it to another hand", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the white and teal sound microphone and pass it across.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the teal microphone and move it to the other hand.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Take the teal microphone and pass it to another hand", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Use one hand to grab the handheld teal microphone and pass it.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the textured white microphone head and move it to another hand.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the handheld teal microphone and pass it across.", + "Grip the white and teal sound microphone and pass it to the other side", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Seize the teal microphone and offer it to the other arm", + "Pick up the teal microphone and hand it to the other side.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the handheld teal microphone using the left arm and transfer it to the right arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the handheld teal microphone and hand it to the other side easily." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode376.json b/handover_mic/franka_randomized_500/instructions/episode376.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e070247e82787940f5a23eef8e1b8dcbd40d9e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode376.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the compact size microphone and pass it.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the metal head microphone with one hand and transfer it", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the black and white microphone and shift it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the handheld microphone and hand it over to the other arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Take the white microphone handle black accents and pass it to another hand", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Take the black and white microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the black and white microphone and pass it to the other hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the compact size microphone, then pass it across without delay.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Lift the microphone with cylindrical handle and pass it across.", + "Lift the handheld microphone and hand it over to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Take the microphone with black tip and white body and pass it to another hand", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grip the black and white microphone and pass it to the other side", + "Grasp the metal head microphone, then give it to the other arm.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Grasp the metal head microphone and pass it across.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Seize the compact size microphone and offer it to the other arm", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the black and white microphone, then pass it across without delay." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode378.json b/handover_mic/franka_randomized_500/instructions/episode378.json new file mode 100644 index 0000000000000000000000000000000000000000..feef43a38cd38d7a7d98ef5c4577e2289baf9ebd --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode378.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Reach for the teal microphone and move it to the other hand.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Lift the teal microphone and pass it across.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Lift the teal microphone and hand it over to the other arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Hold the microphone with slider switch and deliver it to another side.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the textured white microphone head and move it to another hand.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and pass it across.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Seize the teal microphone and offer it to the other arm", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the white and teal sound microphone and hand it to someone else." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode38.json b/handover_mic/franka_randomized_500/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..30e4aee1a6de54ab0ce73b1a89897d5b0a0b3825 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Take the dark blue microphone and move it to another hand.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the small audio microphone and pass it across.", + "Grab the microphone for recording sound and transfer it to another hand", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Take the dark blue microphone and move it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Seize the small audio microphone and offer it to the other arm", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use one hand to grab the round head microphone and pass it.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Grab the microphone for recording sound and transfer it to another hand", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the round head microphone, then pass it across without delay.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Secure the dark blue microphone using one arm and transfer it." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode380.json b/handover_mic/franka_randomized_500/instructions/episode380.json new file mode 100644 index 0000000000000000000000000000000000000000..6a4a57f1379e23e3826308f62da605832a62d2a5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode380.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grasp the teal microphone and pass it across.", + "Take the rounded white tip microphone and move it to another hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Seize the textured white microphone head and offer it to the other arm", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Lift the textured white microphone head and pass it across.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone and pass it to another hand", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Take the textured white microphone head and move it to the other hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the teal microphone and hand it over to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the textured white microphone head and move it to another hand.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Take the teal microphone, shift it, and release it to the other side.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Seize the textured white microphone head and offer it to the other arm", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Hold the teal microphone securely and shift it to another arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grip the textured white microphone head and pass it to the other side", + "Grasp the microphone with slider switch and switch it to another hand.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone and pass it to another hand", + "Lift the teal microphone and hand it to the other side easily.", + "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Pick the textured white microphone head from the surface and switch hands.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Hold the rounded white tip microphone with one hand and transfer it" + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode381.json b/handover_mic/franka_randomized_500/instructions/episode381.json new file mode 100644 index 0000000000000000000000000000000000000000..64a7b9e7cb22f7a1f9b4a1d65a9d3343b7d8fe36 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode381.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Take the white microphone handle black accents and move it to the other hand.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the handheld microphone with one hand and transfer it", + "Lift the metal head microphone and hand it to someone else.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the white microphone handle black accents and pass it to another hand", + "Hold the metal head microphone and pass it to the other hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the black and white microphone and move it to the opposite side", + "Hold the handheld microphone and shift it to the other arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick the metal head microphone from the surface and switch hands.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the black and white microphone and pass it to another hand", + "Hold the metal head microphone and pass it to the other hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the black and white microphone and shift it to the other arm.", + "Take the black and white microphone using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode384.json b/handover_mic/franka_randomized_500/instructions/episode384.json new file mode 100644 index 0000000000000000000000000000000000000000..012e9b8442c55c1db0992123d3bb67540eecbd29 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode384.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the audio microphone with soft covering and pass it across.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the small audio microphone and pass it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the round head microphone and deliver it to another side.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the round head microphone and deliver it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone covered with foam tip and pass it across.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the microphone for recording sound and pass it to the other hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone covered with foam tip and pass it across.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the gray and dark blue microphone and shift it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode387.json b/handover_mic/franka_randomized_500/instructions/episode387.json new file mode 100644 index 0000000000000000000000000000000000000000..4436e21d039c0ea932886b2520db32911663991d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode387.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone with round foam head and move it to another hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and pass it across.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it to someone else.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the round head microphone and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the dark blue microphone and deliver it to another side.", + "Seize the round head microphone and offer it to the other arm", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the microphone with round foam head and move it to another hand.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the round head microphone and pass it across.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the small audio microphone and pass it across.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the dark blue microphone and hand it to someone else.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Secure the round head microphone from the table and transfer it.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the microphone with round foam head and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the round head microphone with one hand and transfer it", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the round head microphone and deliver it to another side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode388.json b/handover_mic/franka_randomized_500/instructions/episode388.json new file mode 100644 index 0000000000000000000000000000000000000000..a62ff030c0168e21ec12e55a3d843d40d9c85ab8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode388.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the dark blue microphone and hand it to someone else.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the round head microphone and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the small audio microphone and pass it to the other hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Lift the round head microphone and hand it to the other side easily.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Lift the round head microphone and pass it across.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the microphone for recording sound and pass it to another hand", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the microphone for recording sound and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Secure the round head microphone using one arm and transfer it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the microphone for recording sound and deliver it to another side.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Reach for the dark blue microphone and move it to the other hand.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the round head microphone and pass it to another hand", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the dark blue microphone and hand it to someone else.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode389.json b/handover_mic/franka_randomized_500/instructions/episode389.json new file mode 100644 index 0000000000000000000000000000000000000000..9835f175828e40e02ecc4ceef8ff33053a068ecf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode389.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Lift the teal microphone and deliver it to the other side.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Hold the handheld teal microphone and shift it to the other arm.", + "Take the textured white microphone head and move it to another hand.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Grasp the textured white microphone head and pass it across.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the handheld teal microphone and pass it to another hand", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grasp the textured white microphone head and switch it to another hand.", + "Lift the teal microphone, then pass it across without delay.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Lift the compact teal and white microphone and pass it across.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the handheld teal microphone and deliver it to another side.", + "Take the sound microphone with teal body and pass it to another hand", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the teal microphone and hand it over to the other arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Pick the teal microphone from the surface and switch hands.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Hold the textured white microphone head and pass it to the other hand.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Lift the microphone with slider switch and hand it to someone else." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode390.json b/handover_mic/franka_randomized_500/instructions/episode390.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9217b2c212bc1511cca86f58007e3519d97a11 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode390.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grip the round head microphone and pass it to the other side", + "Grasp the microphone with smooth gray stem and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the dark blue microphone and move it to another hand.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the microphone with round foam head and transfer it to another hand", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the small audio microphone and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the round head microphone and pass it to the other hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the dark blue microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode391.json b/handover_mic/franka_randomized_500/instructions/episode391.json new file mode 100644 index 0000000000000000000000000000000000000000..781e8c041ff06d4cbaef0d916e5f05791e490fd0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode391.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the textured white microphone head, then pass it across without delay.", + "Pick up the teal microphone and hand it to the other side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to the other hand.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and pass it across.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Pick the teal microphone and transfer it to the other arm.", + "Hold the handheld teal microphone with one hand and transfer it", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the teal microphone and switch it to another hand.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the textured white microphone head and hand it over to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Pick up the textured white microphone head and hand it to the other side.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Take the microphone with white rounded head and move it to the other hand.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Secure the microphone with slider switch from the table and transfer it.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Lift the teal microphone and deliver it to the other side.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Lift the textured white microphone head and pass it across.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Take the microphone with slider switch and move it to another hand.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Hold the teal microphone with one hand and transfer it", + "Hold the textured white microphone head and shift it to the other arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Hold the microphone with slider switch and deliver it to another side.", + "Grasp the teal microphone and switch it to another hand.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the sound microphone with teal body, then pass it across without delay." + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode392.json b/handover_mic/franka_randomized_500/instructions/episode392.json new file mode 100644 index 0000000000000000000000000000000000000000..d8ac932fea7c211309f66c024f2eb1892d12000d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode392.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white microphone handle black accents and hand it to someone else.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the handheld microphone and pass it across.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Take the compact size microphone and move it to the other hand.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Lift the smooth plastic microphone handle and pass it across.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Grasp the handheld microphone and pass it across.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grasp the compact size microphone, then give it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grip the metal head microphone and pass it to the other side", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the microphone with textured metal head and move it to the other hand.", + "Seize the handheld microphone and offer it to the other arm", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Lift the microphone with black tip and white body and hand it over to the other arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode393.json b/handover_mic/franka_randomized_500/instructions/episode393.json new file mode 100644 index 0000000000000000000000000000000000000000..548a6c09b3729dceaf87fc397fa0cb8d5464b81d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode393.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Take the microphone with white rounded head and move it to another hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Lift the teal microphone and pass it across.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Take the teal microphone, shift it, and release it to the other side.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Grab the textured white microphone head and transfer it to another hand", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grip the white and teal sound microphone and pass it to the other side", + "Secure the microphone with slider switch from the table and transfer it.", + "Hold the textured white microphone head and pass it to the other hand.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the teal microphone and hand it to someone else.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick the teal microphone from the surface and switch hands.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the teal microphone and pass it to another hand", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the teal microphone and pass it to the other hand.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Lift the teal microphone and hand it to the other side easily." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode394.json b/handover_mic/franka_randomized_500/instructions/episode394.json new file mode 100644 index 0000000000000000000000000000000000000000..93a02ab4b765be29c032557a37a1b64ddbad2f02 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode394.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with slider switch and switch it to another hand.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the teal microphone, then give it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the textured white microphone head and pass it across.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Take the white and teal sound microphone and move it to the other hand.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Reach for the teal microphone and move it to the other hand.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the rounded white tip microphone and pass it across.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Lift the microphone with slider switch, then pass it across without delay.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the teal microphone and transfer it to another hand", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Grasp the sound microphone with teal body, then give it to the other arm." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode395.json b/handover_mic/franka_randomized_500/instructions/episode395.json new file mode 100644 index 0000000000000000000000000000000000000000..ec197c07cf504b08177e5ae6f79600e93f54b9d4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode395.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the small audio microphone and move it to the other hand.", + "Seize the round head microphone and offer it to the other arm", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the small audio microphone and deliver it to another side.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the microphone covered with foam tip and pass it across.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the round head microphone and deliver it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Take the small audio microphone and move it to the other hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the microphone for recording sound and deliver it to another side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Use one hand to grab the small audio microphone and pass it.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the microphone covered with foam tip and pass it across.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the microphone with round foam head and pass it across.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Take the dark blue microphone and pass it to another hand", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grasp the small audio microphone and shift it to the opposite hand." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode396.json b/handover_mic/franka_randomized_500/instructions/episode396.json new file mode 100644 index 0000000000000000000000000000000000000000..43589c90a85fc0200b3a181902c29f9686ca17d4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode396.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Secure the small audio microphone from the table and transfer it.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grip the round head microphone and pass it to the other side", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the round head microphone and hand it over to the other arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the microphone for recording sound and hand it to the other side." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode397.json b/handover_mic/franka_randomized_500/instructions/episode397.json new file mode 100644 index 0000000000000000000000000000000000000000..647715b815feebd5928fa7d795deef9138317c0a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode397.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld microphone securely and shift it to another arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Seize the black and white microphone and offer it to the other arm", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Take the black and white microphone and move it to the other hand.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the metal head microphone and hand it over to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the black and white microphone with one hand and transfer it", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Seize the microphone for voice recording and offer it to the other arm", + "Pick up the microphone for voice recording and move it to the opposite side", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Take the handheld microphone and move it to the other hand.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the microphone for voice recording and move it to another hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick up the handheld microphone and move it to the opposite side", + "Take the black and white microphone and pass it to another hand", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode398.json b/handover_mic/franka_randomized_500/instructions/episode398.json new file mode 100644 index 0000000000000000000000000000000000000000..a38e0a540ad5214c43477e0041950a23ba53b85e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode398.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Grip the teal microphone and pass it to the other side", + "Hold the textured white microphone head with one hand and transfer it", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Grasp the teal microphone and switch it to another hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Secure the teal microphone from the table and transfer it.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Hold the textured white microphone head and shift it to the other arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the white and teal sound microphone and pass it across.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick up the teal microphone and move it to the opposite side", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Take the microphone with white rounded head and pass it to another hand", + "Use one hand to grab the teal microphone and pass it.", + "Take the microphone with slider switch and move it to another hand.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the handheld teal microphone and hand it to someone else.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the textured white microphone head with one hand and transfer it", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Secure the teal microphone from the table and transfer it.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Pick the teal microphone from the surface and switch hands.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Lift the teal microphone and pass it across.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Take the handheld teal microphone and move it to the other hand.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the sound microphone with teal body and pass it to another hand", + "Use one hand to grab the microphone with slider switch and pass it.", + "Take the sound microphone with teal body and move it to another hand.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Lift the teal microphone and hand it to someone else.", + "Hold the microphone with slider switch and pass it to the other hand." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode399.json b/handover_mic/franka_randomized_500/instructions/episode399.json new file mode 100644 index 0000000000000000000000000000000000000000..65856993cc700341735d4347e01b884fd2566a94 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode399.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grasp the white and teal sound microphone and pass it across.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the textured white microphone head and pass it across.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the white and teal sound microphone and move it to the other hand.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Take the teal microphone and move it to another hand.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the teal microphone and pass it across.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Lift the white and teal sound microphone and pass it across.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Take the microphone with white rounded head and move it to the other hand.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the teal microphone and shift it to the other arm.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Lift the handheld teal microphone and hand it over to the other side.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grasp the plastic teal microphone with slider and pass it across.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Lift the rounded white tip microphone and pass it across." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode40.json b/handover_mic/franka_randomized_500/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd25f0586ebdfd4b2095f8a38e94cb6bba6c491 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the handheld microphone and hand it to the other side easily.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grasp the metal head microphone, then give it to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the compact size microphone securely and shift it to another arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Lift the microphone with textured metal head and pass it across.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick up the handheld microphone and move it to the opposite side", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Take the compact size microphone and move it to another hand.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the black and white microphone and hand it over to the other side.", + "Lift the mesh-patterned microphone head and pass it across.", + "Take the black and white microphone and move it to the other hand.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the black and white microphone and hand it to someone else.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Seize the handheld microphone and offer it to the other arm", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grip the microphone with textured metal head and pass it to the other side", + "Pick up the compact size microphone and hand it to the other side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the black and white microphone and hand it to the other side easily.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the compact size microphone, pass it to the other arm, and release." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode400.json b/handover_mic/franka_randomized_500/instructions/episode400.json new file mode 100644 index 0000000000000000000000000000000000000000..feb26eef0d8a29ff264ccc8b88e6aefdef06c4a9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode400.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone and pass it to another hand", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grasp the black and white microphone, then give it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the handheld microphone and hand it over to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Pick the compact size microphone from the surface and switch hands.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Pick up the black and white microphone and move it to the opposite side", + "Grasp the microphone with textured metal head and pass it across.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the handheld microphone and deliver it to another side.", + "Hold the handheld microphone and pass it to the other hand.", + "Hold the metal head microphone and shift it to the other arm.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone with black tip and white body and pass it to another hand", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grip the black and white microphone and pass it to the other side", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the handheld microphone and transfer it to another hand", + "Reach for the compact size microphone and move it to the other hand.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the metal head microphone and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick the metal head microphone and transfer it to the other arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick the compact size microphone from the surface and switch hands.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the compact size microphone with one hand and transfer it", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grasp the microphone with black tip and white body and pass it across.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the compact size microphone and hand it to the other side easily.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Seize the black and white microphone and offer it to the other arm", + "Take the metal head microphone and pass it to another hand", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Secure the microphone with textured metal head from the table and transfer it." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode401.json b/handover_mic/franka_randomized_500/instructions/episode401.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b632ef17bb7c79362eebd11a15f0ecfd71cd0d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode401.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black and white microphone and hand it to the other side easily.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grip the handheld microphone and pass it to the other side", + "Secure the handheld microphone using one arm and transfer it.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the compact size microphone and pass it across.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grasp the black and white microphone and pass it across.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the microphone with rounded mesh head and pass it across.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Hold the metal head microphone with one hand and transfer it", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the metal head microphone securely and shift it to another arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick the black and white microphone and transfer it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grasp the microphone with textured metal head and switch it to another hand." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode402.json b/handover_mic/franka_randomized_500/instructions/episode402.json new file mode 100644 index 0000000000000000000000000000000000000000..e816a301bfe053dd77710078b04d0d1db28a45b7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode402.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the small audio microphone and deliver it to the other side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the microphone with round foam head and move it to another hand.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grip the small audio microphone and pass it to the other side", + "Lift the small audio microphone and pass it across.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the microphone with round foam head, then pass it across without delay.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the microphone with round foam head and pass it to another hand", + "Reach for the dark blue microphone and move it to the other hand.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Lift the round head microphone and pass it across.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the small audio microphone and deliver it to the other side." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode404.json b/handover_mic/franka_randomized_500/instructions/episode404.json new file mode 100644 index 0000000000000000000000000000000000000000..77ddbc0033aec44d26b81cf2c78fe1ae827257bc --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode404.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld teal microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it to someone else.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grasp the teal microphone and pass it across.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Take the white and teal sound microphone and pass it to another hand", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Use one hand to grab the textured white microphone head and pass it.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Lift the white and teal sound microphone and pass it across.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the teal microphone and hand it to the other side.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Take the sound microphone with teal body and move it to another hand.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the handheld teal microphone and pass it to another hand", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Lift the microphone with slider switch and pass it across.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Lift the teal microphone and deliver it to the other side.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Reach for the textured white microphone head and move it to the other hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode405.json b/handover_mic/franka_randomized_500/instructions/episode405.json new file mode 100644 index 0000000000000000000000000000000000000000..2f271c209b66026666d0c242fe3d35a39eb4ec33 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode405.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grasp the black and white microphone and pass it across.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Reach for the handheld microphone and move it to the other hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the microphone for voice recording and move it to another hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the metal head microphone and pass it across.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the compact size microphone and hand it to someone else.", + "Grasp the handheld microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the black and white microphone and pass it across.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grab the compact size microphone and give it to the opposite arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Reach for the metal head microphone and move it to the other hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Take the compact size microphone and move it to another hand.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the metal head microphone and pass it across.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Take the handheld microphone and pass it to another hand", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the microphone for voice recording and pass it across.", + "Lift the handheld microphone, then pass it across without delay." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode406.json b/handover_mic/franka_randomized_500/instructions/episode406.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6aa500cc181b3ebcc22a1e3f7f2e5ab86baea5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode406.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Lift the teal microphone and pass it across.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Lift the teal microphone and hand it over to the other side.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Use one hand to grab the textured white microphone head and pass it.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Grasp the textured white microphone head and pass it across.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Lift the teal microphone and deliver it to the other side.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Lift the handheld teal microphone and pass it across.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Take the rounded white tip microphone and pass it to another hand", + "Secure the teal microphone from the table and transfer it.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the textured white microphone head and pass it to the other hand.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the textured white microphone head and shift it to the opposite hand." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode407.json b/handover_mic/franka_randomized_500/instructions/episode407.json new file mode 100644 index 0000000000000000000000000000000000000000..92fa2a42dbe0fef0614291c0d45de689df87596f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode407.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld microphone and hand it over to the other arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Take the metal head microphone and pass it to another hand", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grasp the compact size microphone, then give it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grip the compact size microphone and pass it to the other side", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the black and white microphone with one hand and transfer it", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the handheld microphone and pass it across.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grasp the microphone for voice recording and pass it across.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Use one hand to grab the compact size microphone and pass it.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Seize the black and white microphone and offer it to the other arm", + "Take the handheld microphone and pass it to another hand", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Take the metal head microphone and move it to another hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the compact size microphone and move it to the other hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the black and white microphone and pass it across.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the compact size microphone and pass it across.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Lift the black and white microphone and hand it to the other side easily.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Secure the compact size microphone using one arm and transfer it.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode41.json b/handover_mic/franka_randomized_500/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..70f7b9642f1830d48a5a5c249ca03b639d4e3dc7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Take the textured white microphone head and move it to the other hand.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Use one arm to pick up the teal microphone and give it to the other.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the textured white microphone head and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Take the teal microphone and move it to the other hand.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with white rounded head and pass it to the other side", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Use one hand to grab the teal microphone and pass it.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Hold the teal microphone securely and shift it to another arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and pass it across.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the teal microphone and deliver it to the other side.", + "Reach for the textured white microphone head and move it to the other hand.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grip the textured white microphone head and pass it to the other side", + "Take the teal microphone, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode410.json b/handover_mic/franka_randomized_500/instructions/episode410.json new file mode 100644 index 0000000000000000000000000000000000000000..d47b4c2616d50f2e0395a82c6790ca687d0b05bd --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode410.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld teal microphone and hand it over to the other side.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Take the rounded white tip microphone and move it to another hand.", + "Grasp the white and teal sound microphone and pass it across.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the textured white microphone head and deliver it to the other side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Take the teal microphone, shift it, and release it to the other side.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the teal microphone and hand it to someone else.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the rounded white tip microphone and move it to the other hand.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the teal microphone and pass it across.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the teal microphone, then pass it across without delay.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Lift the white and teal sound microphone and pass it across.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the textured white microphone head and shift it to the other arm.", + "Grip the teal microphone and pass it to the other side", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Hold the teal microphone and pass it to the other hand.", + "Pick the teal microphone from the surface and switch hands.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Take the handheld teal microphone and pass it to another hand", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Use one hand to grab the teal microphone and pass it.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Take the teal microphone and move it to another hand.", + "Grasp the teal microphone and pass it across.", + "Grasp the textured white microphone head and switch it to another hand." + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode411.json b/handover_mic/franka_randomized_500/instructions/episode411.json new file mode 100644 index 0000000000000000000000000000000000000000..d2878dfeb4358e86151141fdab98f42be9f9197d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode411.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Lift the compact teal and white microphone and pass it across.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the teal microphone, then pass it across without delay.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the teal microphone and deliver it to the other side.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Lift the microphone with slider switch and hand it over to the other side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the compact teal and white microphone and pass it across.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Take the microphone with white rounded head and move it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Use one hand to grab the teal microphone and pass it.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Grab the microphone with slider switch and transfer it to another hand", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grip the rounded white tip microphone and pass it to the other side", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick the microphone with slider switch from the surface and switch hands." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode413.json b/handover_mic/franka_randomized_500/instructions/episode413.json new file mode 100644 index 0000000000000000000000000000000000000000..3df6a05952abcda4756576af33c187fd580a7503 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode413.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the dark blue microphone, then pass it across without delay.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the dark blue microphone and pass it to another hand", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the small audio microphone and pass it across.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Pick the small audio microphone from the surface and switch hands.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode414.json b/handover_mic/franka_randomized_500/instructions/episode414.json new file mode 100644 index 0000000000000000000000000000000000000000..1d0bd634ccd35bc8de5bf584ee247d88928c34bf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode414.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the metal head microphone securely and shift it to another arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use one hand to grab the black and white microphone and pass it.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Take the white microphone handle black accents and pass it to another hand", + "Lift the white microphone handle black accents and pass it across.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the black and white microphone and shift it to the other arm.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the handheld microphone with one hand and transfer it", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick up the metal head microphone and move it to the opposite side", + "Take the microphone with cylindrical handle and move it to another hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the compact size microphone and pass it to another hand", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Seize the handheld microphone and offer it to the other arm", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick up the black and white microphone and move it to the opposite side", + "Take the white microphone handle black accents and move it to another hand.", + "Secure the microphone for voice recording from the table and transfer it.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the compact size microphone and move it to the other hand.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the black and white microphone, shift it, and release it to the other side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the metal head microphone and hand it over to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode415.json b/handover_mic/franka_randomized_500/instructions/episode415.json new file mode 100644 index 0000000000000000000000000000000000000000..e80dac257bb0aa2ffed51b6f66c47a8be0055db1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode415.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Secure the microphone with slider switch from the table and transfer it.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Grasp the rounded white tip microphone and pass it across.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Lift the compact teal and white microphone and pass it across.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Pick up the textured white microphone head and hand it to the other side.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Lift the teal microphone and hand it to someone else.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Take the teal microphone and move it to the other hand.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grab the teal microphone and transfer it to another hand", + "Take the sound microphone with teal body and pass it to another hand", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Lift the teal microphone and pass it across.", + "Secure the textured white microphone head using one arm and transfer it.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the textured white microphone head and hand it to someone else.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Grip the compact teal and white microphone and pass it to the other side" + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode416.json b/handover_mic/franka_randomized_500/instructions/episode416.json new file mode 100644 index 0000000000000000000000000000000000000000..205132195ce6775a0cf57b62fd6e1e5c4e9e2890 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode416.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for voice recording and hand it to someone else.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grasp the compact size microphone and pass it across.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and pass it across.", + "Secure the handheld microphone using one arm and transfer it.", + "Seize the black and white microphone and offer it to the other arm", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick up the handheld microphone and move it to the opposite side", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the metal head microphone and deliver it to the other side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the microphone for voice recording and deliver it to another side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Hold the metal head microphone with one hand and transfer it", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Reach for the compact size microphone and move it to the other hand.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the handheld microphone and pass it across.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and pass it across.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the black and white microphone, then pass it across without delay.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grip the microphone for voice recording and pass it to the other side", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the metal head microphone and hand it to someone else.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Reach for the compact size microphone and move it to the other hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the black and white microphone and pass it across.", + "Hold the compact size microphone and pass it to the other hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Use one hand to grab the white microphone handle black accents and pass it." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode417.json b/handover_mic/franka_randomized_500/instructions/episode417.json new file mode 100644 index 0000000000000000000000000000000000000000..673fef26ec3731bf5347d0d08d53af49b2992a51 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode417.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the long microphone with smooth teal grip and move it to another hand.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grasp the teal microphone and switch it to another hand.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Take the compact teal and white microphone and pass it to another hand", + "Grip the sound microphone with teal body and pass it to the other side", + "Hold the white and teal sound microphone with one hand and transfer it", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the teal microphone, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Reach for the textured white microphone head and move it to the other hand.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the textured white microphone head, then pass it across without delay.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Take the textured white microphone head and move it to another hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the teal microphone firmly and pass it to the other arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grasp the textured white microphone head and switch it to another hand.", + "Use one hand to grab the textured white microphone head and pass it.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Grip the microphone with white rounded head and pass it to the other side", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode418.json b/handover_mic/franka_randomized_500/instructions/episode418.json new file mode 100644 index 0000000000000000000000000000000000000000..c297ad83d2d18683e54d309fb82fa8b461395e67 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode418.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the teal microphone, pass it, and release it to complete the task.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Take the teal microphone and pass it to another hand", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Lift the teal microphone, then pass it across without delay.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grasp the teal microphone and switch it to another hand.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the teal microphone and pass it across.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the teal microphone and shift it to the other arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the textured white microphone head and deliver it to another side.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the teal microphone and hand it over to the other side.", + "Take the sound microphone with teal body and pass it to another hand", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Grasp the microphone with white rounded head and pass it across.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Take the microphone with slider switch and move it to the other hand.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Lift the teal microphone and deliver it to the other side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Hold the handheld teal microphone with one hand and transfer it", + "Lift the handheld teal microphone and hand it to someone else.", + "Take the teal microphone and move it to another hand.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Lift the teal microphone and hand it to the other side easily.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Hold the textured white microphone head and pass it to the other hand.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the compact teal and white microphone and pass it across.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode420.json b/handover_mic/franka_randomized_500/instructions/episode420.json new file mode 100644 index 0000000000000000000000000000000000000000..23caa61d15b89cf6df7e6e831b0c6aa36b8cd226 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode420.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grab the dark blue microphone and transfer it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the small audio microphone and move it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the small audio microphone and pass it across.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the small audio microphone and pass it across.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Use one hand to grab the round head microphone and pass it.", + "Reach for the round head microphone and move it to the other hand.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the dark blue microphone and move it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode421.json b/handover_mic/franka_randomized_500/instructions/episode421.json new file mode 100644 index 0000000000000000000000000000000000000000..03fe753553ade5d284e5e35fe4ac1ae339f3792a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode421.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the round head microphone and move it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the microphone covered with foam tip and pass it across.", + "Seize the small audio microphone and offer it to the other arm", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Reach for the round head microphone and move it to the other hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the small audio microphone and deliver it to another side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone for recording sound and move it to another hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the small audio microphone and transfer it to another hand", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the round head microphone and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the dark blue microphone and deliver it to another side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the round head microphone and hand it over to the other side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Secure the round head microphone using one arm and transfer it.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the dark blue microphone and transfer it to another hand", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it" + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode422.json b/handover_mic/franka_randomized_500/instructions/episode422.json new file mode 100644 index 0000000000000000000000000000000000000000..b6108f4c5e17bd86666a4bd446105b459690aa1b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode422.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the textured white microphone head and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the plastic teal microphone with slider and pass it across.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the textured white microphone head and hand it to someone else.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Take the teal microphone and move it to the other hand.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head and hand it over to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the teal microphone and pass it across.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the textured white microphone head and hand it to someone else.", + "Reach for the teal microphone and move it to the other hand.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grasp the microphone with slider switch and pass it across.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the textured white microphone head and move it to the other hand.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the teal microphone and shift it to the other arm.", + "Pick up the compact teal and white microphone and hand it to the other side." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode424.json b/handover_mic/franka_randomized_500/instructions/episode424.json new file mode 100644 index 0000000000000000000000000000000000000000..53ad902851a76e4f7872c06a82427d3e997b311c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode424.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal head microphone and hand it to someone else.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Lift the compact size microphone and pass it across.", + "Hold the black and white microphone and shift it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Reach for the black and white microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the microphone for voice recording and pass it across.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the handheld microphone and deliver it to the other side.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Seize the microphone for voice recording and offer it to the other arm", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Take the black and white microphone and pass it to another hand", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grasp the black and white microphone and switch it to another hand.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the handheld microphone and shift it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Grasp the metal head microphone and pass it across.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the microphone for voice recording and move it to another hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Take the white microphone handle black accents and pass it to another hand", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the metal head microphone with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the compact size microphone and hand it to someone else.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the black and white microphone and pass it to the other hand.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode426.json b/handover_mic/franka_randomized_500/instructions/episode426.json new file mode 100644 index 0000000000000000000000000000000000000000..9a2bfffef311244458a5d589811066378520f8c7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode426.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with textured metal head and hand it to someone else.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the mesh-patterned microphone head and pass it across.", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Lift the white microphone handle black accents and pass it across.", + "Secure the black and white microphone from the table and transfer it.", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grip the metal head microphone and pass it to the other side", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Take the compact size microphone and move it to another hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Hold the handheld microphone and deliver it to another side.", + "Grab the black and white microphone and transfer it to another hand", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the microphone with black tip and white body and pass it across.", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the compact size microphone and switch it to another hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the microphone with textured metal head and pass it across.", + "Secure the black and white microphone from the table and transfer it.", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grip the metal head microphone and pass it to the other side", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Hold the metal head microphone and deliver it to another side.", + "Grab the compact size microphone and transfer it to another hand", + "Take the compact size microphone and move it to the other hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the handheld microphone and pass it across.", + "Seize the compact size microphone and offer it to the other arm", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the microphone with black tip and white body and pass it across." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode427.json b/handover_mic/franka_randomized_500/instructions/episode427.json new file mode 100644 index 0000000000000000000000000000000000000000..fde69299d8f714fdab583f137f33b5fe7ef4fe39 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode427.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Grip the textured white microphone head and pass it to the other side", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Take the sound microphone with teal body and move it to another hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Hold the textured white microphone head with one hand and transfer it", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grasp the teal microphone and switch it to another hand.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Take the teal microphone and move it to the other hand.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grasp the compact teal and white microphone and pass it across.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the compact teal and white microphone and move it to another hand.", + "Hold the teal microphone and deliver it to another side.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Lift the microphone with slider switch and pass it across.", + "Hold the teal microphone securely and shift it to another arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Use one hand to grab the textured white microphone head and pass it.", + "Hold the textured white microphone head with one hand and transfer it", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone and move it to the other hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode428.json b/handover_mic/franka_randomized_500/instructions/episode428.json new file mode 100644 index 0000000000000000000000000000000000000000..c3390a1fc3decaad78ec36bfd1312bdd8fd4584a --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode428.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the teal microphone and move it to the other hand.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Use one hand to grab the teal microphone and pass it.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Take the white and teal sound microphone and pass it to another hand", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick the teal microphone from the surface and switch hands.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Hold the teal microphone and pass it to the other hand.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the textured white microphone head and move it to the other hand.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grip the microphone with white rounded head and pass it to the other side", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Grasp the teal microphone and switch it to another hand.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Pick up the teal microphone and move it to the opposite side", + "Lift the microphone with slider switch, then pass it across without delay.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Take the teal microphone and pass it to another hand", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Lift the microphone with slider switch and hand it to someone else.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Reach for the plastic teal microphone with slider and move it to the other hand." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode429.json b/handover_mic/franka_randomized_500/instructions/episode429.json new file mode 100644 index 0000000000000000000000000000000000000000..3d4043699022d96c0ecdc9f9f348a1d4d3687d56 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode429.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the round head microphone and move it to the other hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grip the dark blue microphone and pass it to the other side", + "Pick up the dark blue microphone and move it to the opposite side", + "Seize the microphone with round foam head and offer it to the other arm", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Take the small audio microphone and pass it to another hand", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone with round foam head and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grasp the round head microphone and switch it to another hand.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Secure the round head microphone from the table and transfer it.", + "Grab the microphone for recording sound and transfer it to another hand", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode43.json b/handover_mic/franka_randomized_500/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..c2523375642066cace32861fb69e57796b582992 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Pick up the round head microphone and hand it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and hand it to someone else.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Secure the small audio microphone from the table and transfer it.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone with round foam head and pass it across.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grasp the round head microphone and switch it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the small audio microphone and pass it across.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the small audio microphone and hand it to someone else.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Secure the dark blue microphone from the table and transfer it.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the small audio microphone, then give it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the small audio microphone and move it to the other hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Seize the dark blue microphone and offer it to the other arm", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the round head microphone and hand it over to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode431.json b/handover_mic/franka_randomized_500/instructions/episode431.json new file mode 100644 index 0000000000000000000000000000000000000000..efb11ea58b948a9a52283afe343a8a6ff19fc793 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode431.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Take the small audio microphone and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the small audio microphone and pass it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the microphone with round foam head and hand it to someone else.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the round head microphone from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the gray and dark blue microphone and pass it across.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Reach for the round head microphone and move it to the other hand.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the small audio microphone and pass it to another hand", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the small audio microphone and deliver it to the other side.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Lift the round head microphone and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Pick up the dark blue microphone and move it to the opposite side", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Take the round head microphone and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode432.json b/handover_mic/franka_randomized_500/instructions/episode432.json new file mode 100644 index 0000000000000000000000000000000000000000..6474006188a4f768bdbe084b3bfc1cb4916e1f6e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode432.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the round head microphone and hand it to someone else.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Secure the microphone for recording sound from the table and transfer it.", + "Grab the microphone with round foam head and transfer it to another hand", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the dark blue microphone and pass it across.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the dark blue microphone and move it to another hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Secure the microphone for recording sound from the table and transfer it.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Seize the round head microphone and offer it to the other arm", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick the round head microphone from the surface and switch hands.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with dark blue padding and deliver it to another side." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode434.json b/handover_mic/franka_randomized_500/instructions/episode434.json new file mode 100644 index 0000000000000000000000000000000000000000..53d78b6f2b412ac92a916942e16c0705342bdf67 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode434.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the small audio microphone and pass it across.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the small audio microphone, then pass it across without delay.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Seize the round head microphone and offer it to the other arm", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode435.json b/handover_mic/franka_randomized_500/instructions/episode435.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0bff4535ba4c54aa43f6d587cc5f8133be0ac8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode435.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grasp the microphone with white rounded head and pass it across.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Lift the handheld teal microphone and pass it across.", + "Take the teal microphone and move it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Lift the teal microphone, then pass it across without delay.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the handheld teal microphone and hand it to someone else.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the textured white microphone head and shift it to the other arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grasp the rounded white tip microphone and pass it across.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Take the microphone with slider switch and pass it to another hand", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Take the textured white microphone head and move it to another hand.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Hold the teal microphone with one hand and transfer it", + "Grasp the teal microphone and switch it to another hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Reach for the teal microphone and move it to the other hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grasp the white and teal sound microphone and pass it across.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the teal microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode436.json b/handover_mic/franka_randomized_500/instructions/episode436.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c1e34f536ae3fb5ddf83a2b3149d31a64bf561 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode436.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the rounded white tip microphone and hand it to someone else.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the microphone with slider switch and pass it to another hand", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Use one hand to grab the textured white microphone head and pass it.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Lift the teal microphone, then pass it across without delay.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grab the textured white microphone head and transfer it to another hand", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the microphone with slider switch and move it to another hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Lift the microphone with slider switch and pass it across.", + "Hold the handheld teal microphone with one hand and transfer it", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Grasp the sound microphone with teal body and pass it across.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Lift the microphone with slider switch and hand it to someone else.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Hold the teal microphone securely and shift it to another arm.", + "Take the handheld teal microphone and pass it to another hand", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Hold the textured white microphone head and shift it to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grip the compact teal and white microphone and pass it to the other side", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Take the sound microphone with teal body and move it to another hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the microphone with slider switch and pass it across.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Lift the teal microphone and hand it to the other side easily.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Take the handheld teal microphone and move it to the other hand.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the white and teal sound microphone and hand it to someone else.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip from the surface and switch hands." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode437.json b/handover_mic/franka_randomized_500/instructions/episode437.json new file mode 100644 index 0000000000000000000000000000000000000000..e7becbf68c28050276073d81771e1e9f793be269 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode437.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the microphone for voice recording and pass it across.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Hold the black and white microphone with one hand and transfer it", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grip the compact size microphone and pass it to the other side", + "Use one hand to grab the compact size microphone and pass it.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the compact size microphone and pass it across.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Hold the handheld microphone with one hand and transfer it", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grip the metal head microphone and pass it to the other side", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Hold the metal head microphone and deliver it to another side.", + "Grab the compact size microphone and give it to the opposite arm.", + "Take the handheld microphone and pass it to another hand", + "Grab the metal head microphone and transfer it to another hand", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Take the black and white microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across." + ], + "unseen": [ + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode438.json b/handover_mic/franka_randomized_500/instructions/episode438.json new file mode 100644 index 0000000000000000000000000000000000000000..9743e3791ee5c0b7a9ad4569842aae8aeaae5bdb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode438.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Lift the microphone with slider switch and pass it across.", + "Grip the handheld teal microphone and pass it to the other side", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Lift the handheld teal microphone and hand it to someone else.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the compact teal and white microphone and move it to another hand.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Grasp the rounded white tip microphone and pass it across.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the teal microphone using one arm and transfer it.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the microphone with white rounded head and pass it to another hand", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Lift the microphone with white rounded head and pass it across.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Seize the handheld teal microphone and offer it to the other arm", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Lift the teal microphone and hand it to someone else.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Grasp the teal microphone and pass it across.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Hold the teal microphone and pass it to the other hand.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Pick up the teal microphone and hand it to the other side.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the rounded white tip microphone and pass it to another hand", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Pick the teal microphone from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grab the sound microphone with teal body and transfer it to another hand" + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode44.json b/handover_mic/franka_randomized_500/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..aa8b1523bb2e3d6e987d0994cc22aa7c97799aef --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white bottom microphone with textured tip and pass it to another hand", + "Seize the compact teal and white microphone and offer it to the other arm", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Secure the teal microphone from the table and transfer it.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Grasp the teal microphone, then give it to the other arm.", + "Grasp the teal microphone and pass it across.", + "Lift the microphone with white rounded head and pass it across.", + "Grab the teal microphone and transfer it to another hand", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Lift the teal microphone and hand it to the other side easily.", + "Take the sound microphone with teal body and move it to another hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the teal microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Take the textured white microphone head and pass it to another hand", + "Seize the white and teal sound microphone and offer it to the other arm", + "Hold the handheld teal microphone and pass it to the other hand.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Take the white and teal sound microphone and move it to the other hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Grip the teal microphone and pass it to the other side", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the white and teal sound microphone and pass it across.", + "Grab the teal microphone and transfer it to another hand", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the teal microphone and move it to another hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the textured white microphone head and pass it.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Grasp the teal microphone and switch it to another hand.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the microphone with slider switch and pass it to another hand", + "Seize the rounded white tip microphone and offer it to the other arm", + "Hold the textured white microphone head and pass it to the other hand.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Use one arm to pick up the microphone with slider switch and give it to the other." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode440.json b/handover_mic/franka_randomized_500/instructions/episode440.json new file mode 100644 index 0000000000000000000000000000000000000000..4edb8e0b67181558a9dbd587ee658d072d6ba079 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode440.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the small audio microphone and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Seize the round head microphone and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the small audio microphone and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the small audio microphone and move it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the round head microphone and pass it across.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the microphone for recording sound and pass it across.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the microphone covered with foam tip, then pass it across without delay." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode443.json b/handover_mic/franka_randomized_500/instructions/episode443.json new file mode 100644 index 0000000000000000000000000000000000000000..ba348bfd83754b28c99ed12088105ea8be1ecaf0 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode443.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the dark blue microphone and pass it across.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the dark blue microphone and pass it to another hand", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the round head microphone and hand it to someone else.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the microphone with smooth gray stem and pass it across.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Use one hand to grab the round head microphone and pass it.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the round head microphone with one hand and transfer it", + "Grasp the microphone covered with foam tip and pass it across.", + "Take the microphone with round foam head and move it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Reach for the microphone with round foam head and move it to the other hand." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode445.json b/handover_mic/franka_randomized_500/instructions/episode445.json new file mode 100644 index 0000000000000000000000000000000000000000..bd03ecd99255bd3ee1478ecbf57ecaeeb3813f62 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode445.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the sound microphone with teal body and shift it to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the rounded white tip microphone and move it to another hand.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Secure the microphone with slider switch from the table and transfer it.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the white and teal sound microphone and pass it across.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the sound microphone with teal body and move it to another hand.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Take the teal microphone and pass it to another hand", + "Secure the rounded white tip microphone from the table and transfer it.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Secure the textured white microphone head using one arm and transfer it.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Hold the white and teal sound microphone with one hand and transfer it", + "Seize the teal microphone and offer it to the other arm", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the textured white microphone head and deliver it to another side.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the teal microphone and pass it across.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head and move it to another hand.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Take the compact teal and white microphone and pass it to another hand", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode446.json b/handover_mic/franka_randomized_500/instructions/episode446.json new file mode 100644 index 0000000000000000000000000000000000000000..e8593010a724f5fbe0e75bf46f42609aa5e8301c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode446.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the compact size microphone and pass it to another hand", + "Grasp the microphone for voice recording and switch it to another hand.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Seize the microphone for voice recording and offer it to the other arm", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Use one hand to grab the metal head microphone and pass it.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the compact size microphone with one hand and transfer it", + "Grasp the metal head microphone and pass it across.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Secure the compact size microphone from the table and transfer it.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it over to the other side.", + "Take the metal head microphone and pass it to another hand", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grip the metal head microphone and pass it to the other side", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Secure the handheld microphone using one arm and transfer it.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the compact size microphone and move it to the other hand.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the handheld microphone with one hand and transfer it", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Reach for the compact size microphone and move it to the other hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode447.json b/handover_mic/franka_randomized_500/instructions/episode447.json new file mode 100644 index 0000000000000000000000000000000000000000..c02ec442150579090d21e728cd6896b9481fbb0b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode447.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Lift the rounded white tip microphone and pass it across.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Hold the textured white microphone head and pass it to the other hand.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Take the white and teal sound microphone and pass it to another hand", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Lift the textured white microphone head and hand it to someone else.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Take the white and teal sound microphone and move it to the other hand.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Lift the teal microphone, then pass it across without delay.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the white and teal sound microphone and pass it across.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Take the handheld teal microphone and pass it to another hand", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the teal microphone and move it to another hand.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick the textured white microphone head from the surface and switch hands.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode448.json b/handover_mic/franka_randomized_500/instructions/episode448.json new file mode 100644 index 0000000000000000000000000000000000000000..de42dc9bda87d742354f5de3fae215855339e7f7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode448.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the compact size microphone and move it to another hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Take the handheld microphone and move it to the other hand.", + "Hold the handheld microphone and pass it to the other hand.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the microphone for voice recording with one hand and transfer it", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Secure the microphone with textured metal head from the table and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the mesh-patterned microphone head and pass it across.", + "Take the metal head microphone and pass it to another hand", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Reach for the black and white microphone and move it to the other hand.", + "Pick up the handheld microphone and hand it to the other side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Pick up the compact size microphone and move it to the opposite side", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Grasp the handheld microphone and pass it across.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the metal head microphone and pass it across.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Take the metal head microphone and move it to another hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the handheld microphone and move it to the other hand.", + "Hold the metal head microphone and pass it to the other hand.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick up the black and white microphone and hand it to the other side.", + "Pick the microphone with cylindrical handle from the surface and switch hands." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode45.json b/handover_mic/franka_randomized_500/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..1ad7e0e815109174f5a54079a5011731cbf8f76d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the dark blue microphone and hand it over to the other side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Use one hand to grab the small audio microphone and pass it.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the microphone with dark blue padding and pass it to another hand", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Secure the round head microphone using one arm and transfer it.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the round head microphone and hand it over to the other side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use one hand to grab the round head microphone and pass it.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Secure the round head microphone from the table and transfer it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and pass it across.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the small audio microphone and move it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Hold the round head microphone with one hand and transfer it", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick up the microphone for recording sound and hand it to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone with smooth gray stem and pass it to the other hand." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode450.json b/handover_mic/franka_randomized_500/instructions/episode450.json new file mode 100644 index 0000000000000000000000000000000000000000..4af46f6c54ce08dbe684767135b94916d165c111 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode450.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Lift the metal head microphone and pass it across.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Secure the handheld microphone using one arm and transfer it.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the microphone for voice recording and pass it to another hand", + "Hold the microphone for voice recording and deliver it to another side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Seize the black and white microphone and offer it to the other arm", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the microphone with textured metal head and pass it across.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the compact size microphone and move it to the other hand.", + "Reach for the black and white microphone and move it to the other hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Seize the handheld microphone and offer it to the other arm", + "Grip the metal head microphone and pass it to the other side", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the metal head microphone and pass it across.", + "Grab the white microphone handle black accents and give it to the opposite arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode451.json b/handover_mic/franka_randomized_500/instructions/episode451.json new file mode 100644 index 0000000000000000000000000000000000000000..5733c14bf14bb7d8e579d51d45f5106fff00d28d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode451.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact size microphone and move it to another hand.", + "Pick up the handheld microphone and hand it to the other side.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the compact size microphone and hand it over to the other arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grip the white microphone handle black accents and pass it to the other side", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Use one hand to grab the black and white microphone and pass it.", + "Take the handheld microphone and pass it to another hand", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Hold the microphone for voice recording and deliver it to another side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the handheld microphone and pass it across.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grasp the metal head microphone and switch it to another hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Seize the handheld microphone and offer it to the other arm", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grip the handheld microphone and pass it to the other side", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Use one hand to grab the compact size microphone and pass it.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the metal head microphone and pass it across.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grab the metal head microphone and give it to the opposite arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Take the handheld microphone and move it to another hand.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body and shift it to the other arm." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode452.json b/handover_mic/franka_randomized_500/instructions/episode452.json new file mode 100644 index 0000000000000000000000000000000000000000..b3f53d4f0db51a87e346f26a0a1d37f9ba6bdc7f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode452.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for recording sound and hand it over to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the round head microphone and move it to another hand.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the small audio microphone and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the dark blue microphone and pass it across.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the round head microphone and pass it across.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the small audio microphone and move it to the opposite side", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the small audio microphone and hand it over to the other arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the small audio microphone with the right arm and give it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode453.json b/handover_mic/franka_randomized_500/instructions/episode453.json new file mode 100644 index 0000000000000000000000000000000000000000..c515b0e99b22f6d3da9753a41c532549fc9b7965 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode453.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the small audio microphone and pass it to another hand", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the small audio microphone and pass it across.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the round head microphone and pass it to the other hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the round head microphone, then pass it across without delay.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the round head microphone and shift it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the microphone with round foam head and pass it across.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and pass it across.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode454.json b/handover_mic/franka_randomized_500/instructions/episode454.json new file mode 100644 index 0000000000000000000000000000000000000000..1d01a2c5d5646f6b87aabac83259e9fded8b7666 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode454.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it to someone else.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Secure the textured white microphone head using one arm and transfer it.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the compact teal and white microphone and pass it across.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Take the microphone with white rounded head and move it to another hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grip the microphone with slider switch and pass it to the other side", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Lift the rounded white tip microphone and pass it across.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Take the microphone with slider switch and move it to another hand.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Take the sound microphone with teal body and pass it to another hand", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Grab the textured white microphone head and transfer it to another hand", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode455.json b/handover_mic/franka_randomized_500/instructions/episode455.json new file mode 100644 index 0000000000000000000000000000000000000000..04b14c8663441eb8b47d4e25cedee1c1dbc108db --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode455.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the textured white microphone head and hand it to someone else.", + "Lift the teal microphone and hand it over to the other arm.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Grasp the microphone with white rounded head and pass it across.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grip the rounded white tip microphone and pass it to the other side", + "Take the rounded white tip microphone and move it to the other hand.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Take the microphone with slider switch and pass it to another hand", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Hold the teal microphone and pass it to the other hand.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Lift the teal microphone and hand it to the other side easily.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the compact teal and white microphone and hand it to someone else.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Lift the textured white microphone head and hand it over to the other side.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grasp the textured white microphone head and pass it across.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grip the white and teal sound microphone and pass it to the other side", + "Take the white and teal sound microphone and move it to the other hand.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Take the microphone with white rounded head and pass it to another hand", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Lift the compact teal and white microphone and pass it across.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Take the white and teal sound microphone and move it to another hand." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode456.json b/handover_mic/franka_randomized_500/instructions/episode456.json new file mode 100644 index 0000000000000000000000000000000000000000..74bfd01d65b0abd55ae67e0245ec05a69ba349eb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode456.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the teal microphone, then pass it across without delay.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Take the handheld teal microphone and move it to another hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the textured white microphone head and pass it to the other hand.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grab the sound microphone with teal body and transfer it to another hand", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the teal microphone and pass it across.", + "Take the handheld teal microphone and pass it to another hand", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the textured white microphone head and shift it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Grasp the textured white microphone head and pass it across.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the microphone with slider switch and deliver it to the other side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Grab the white and teal sound microphone and transfer it to another hand", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Take the microphone with slider switch and move it to the other hand.", + "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the teal microphone and pass it across.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Pick up the handheld teal microphone and move it to the opposite side", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode458.json b/handover_mic/franka_randomized_500/instructions/episode458.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4e438c4d0b7a277826d75df5e291d39589ad67 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode458.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Hold the textured white microphone head with one hand and transfer it", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grab the textured white microphone head and transfer it to another hand", + "Hold the teal microphone and pass it to the other hand.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Take the microphone with white rounded head and move it to the other hand.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the handheld teal microphone and pass it to another hand", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Seize the handheld teal microphone and offer it to the other arm", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the textured white microphone head and move it to another hand.", + "Use one hand to grab the teal microphone and pass it.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grip the textured white microphone head and pass it to the other side", + "Lift the teal microphone and hand it to someone else.", + "Take the handheld teal microphone and pass it to another hand", + "Grasp the microphone with white rounded head and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Take the sound microphone with teal body and move it to another hand.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the microphone with slider switch and pass it across.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode459.json b/handover_mic/franka_randomized_500/instructions/episode459.json new file mode 100644 index 0000000000000000000000000000000000000000..65b11d4b55d390fac6b9b4effd8aca94aaaa7fd4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode459.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Pick up the black and white microphone and move it to the opposite side", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Take the microphone with textured metal head and move it to the other hand.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the handheld microphone and shift it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grip the handheld microphone and pass it to the other side", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Take the handheld microphone and pass it to another hand", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the compact size microphone and hand it to someone else.", + "Use one hand to grab the handheld microphone and pass it.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Seize the metal head microphone and offer it to the other arm", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone with textured metal head and pass it across.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grip the compact size microphone and pass it to the other side", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Hold the compact size microphone and deliver it to another side.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone for voice recording and hand it to someone else.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Reach for the metal head microphone and move it to the other hand.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Pick up the black and white microphone and move it to the opposite side", + "Grasp the mesh-patterned microphone head, then give it to the other arm." + ], + "unseen": [ + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode46.json b/handover_mic/franka_randomized_500/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd68402505e38876f82b5d6c88b16b3bebe1c1d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Take the microphone for voice recording and move it to another hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grasp the black and white microphone and switch it to another hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the metal head microphone, then pass it across without delay.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the handheld microphone and move it to the other hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the black and white microphone and shift it to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Grab the compact size microphone and give it to the opposite arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the compact size microphone and pass it across.", + "Hold the handheld microphone and pass it to the other hand.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grasp the black and white microphone and pass it across.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Secure the black and white microphone using one arm and transfer it.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the compact size microphone and switch it to another hand.", + "Hold the black and white microphone and deliver it to another side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Secure the metal head microphone from the table and transfer it.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Take the microphone for voice recording and pass it to another hand", + "Lift the black and white microphone and pass it across.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Reach for the compact size microphone and move it to the other hand.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the handheld microphone and pass it across.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the handheld microphone and move it to the opposite side", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Hold the compact size microphone with one hand and transfer it" + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode461.json b/handover_mic/franka_randomized_500/instructions/episode461.json new file mode 100644 index 0000000000000000000000000000000000000000..679a594c4d33646640a621cc6d1245f3e518f4a2 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode461.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the round head microphone and transfer it to another hand", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Grip the microphone for recording sound and pass it to the other side", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Lift the small audio microphone and hand it over to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the dark blue microphone and pass it to another hand", + "Grab the microphone with round foam head and transfer it to another hand", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the round head microphone, then pass it across without delay.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the dark blue microphone and move it to another hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the round head microphone and pass it to another hand", + "Grab the microphone for recording sound and transfer it to another hand", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grab the round head microphone and give it to the opposite arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode462.json b/handover_mic/franka_randomized_500/instructions/episode462.json new file mode 100644 index 0000000000000000000000000000000000000000..4a7d1cc7f5a5b6ffea1af1d2a34aefc5a3b23b5d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode462.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Take the microphone with textured metal head and move it to the other hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone for voice recording and pass it across.", + "Pick up the black and white microphone and move it to the opposite side", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the metal head microphone and give it to the opposite arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Take the microphone with black tip and white body and pass it to another hand", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the metal head microphone and hand it to someone else.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grip the metal head microphone and pass it to the other side", + "Lift the black and white microphone, then pass it across without delay.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Reach for the metal head microphone and move it to the other hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Use one arm to pick up the microphone with textured metal head and give it to the other." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode465.json b/handover_mic/franka_randomized_500/instructions/episode465.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7460384d4a698bdaa1b9afb1b15b0148e1fe5f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode465.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Take the round head microphone and move it to the other hand.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the small audio microphone and deliver it to another side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Seize the small audio microphone and offer it to the other arm", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the gray and dark blue microphone and pass it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Reach for the round head microphone and move it to the other hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the round head microphone and pass it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grab the round head microphone and transfer it to another hand", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode466.json b/handover_mic/franka_randomized_500/instructions/episode466.json new file mode 100644 index 0000000000000000000000000000000000000000..d3dc77207cecb0469da4f6684699c549e5a63eeb --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode466.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Pick the teal microphone from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the teal microphone securely and shift it to another arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Take the textured white microphone head and pass it to another hand", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Lift the textured white microphone head and pass it across.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grip the white and teal sound microphone and pass it to the other side", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Lift the white and teal sound microphone and pass it across.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Reach for the textured white microphone head and move it to the other hand.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Pick the microphone with white rounded head from the surface and switch hands." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode467.json b/handover_mic/franka_randomized_500/instructions/episode467.json new file mode 100644 index 0000000000000000000000000000000000000000..37da7ff32546204a30cca7534b7fb8544ac4f8bc --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode467.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the microphone with slider switch and shift it to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the teal microphone firmly and pass it to the other arm.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Take the handheld teal microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grasp the white and teal sound microphone and pass it across.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Lift the handheld teal microphone and pass it across.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the textured white microphone head and pass it to another hand", + "Hold the textured white microphone head and shift it to the other arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Take the rounded white tip microphone and move it to another hand.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Hold the teal microphone and pass it to the other hand.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grip the handheld teal microphone and pass it to the other side", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grasp the white and teal sound microphone and pass it across." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode468.json b/handover_mic/franka_randomized_500/instructions/episode468.json new file mode 100644 index 0000000000000000000000000000000000000000..a71f32689fe3767ba1272ce08a3a0032f64cab77 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode468.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the round head microphone with one hand and transfer it", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the dark blue microphone and transfer it to another hand", + "Pick the small audio microphone and transfer it to the other arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the dark blue microphone and pass it across.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the round head microphone and switch it to another hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the round head microphone with one hand and transfer it", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick the round head microphone and transfer it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the microphone with round foam head and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the round head microphone and move it to another hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode469.json b/handover_mic/franka_randomized_500/instructions/episode469.json new file mode 100644 index 0000000000000000000000000000000000000000..76bf7c8bc24368b40239ba5afa7b7c4d03a4b369 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode469.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Secure the round head microphone from the table and transfer it.", + "Lift the microphone covered with foam tip and pass it across.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Reach for the round head microphone and move it to the other hand.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone covered with foam tip and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the round head microphone and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone with round foam head and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode47.json b/handover_mic/franka_randomized_500/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..67d170038cf16ee6a0f8e6647b77fe6e80d23bb1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and pass it across.", + "Grip the textured white microphone head and pass it to the other side", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Grasp the rounded white tip microphone and pass it across.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Hold the white and teal sound microphone and deliver it to another side.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the teal microphone and hand it over to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the teal microphone and hand it to someone else.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Take the textured white microphone head and pass it to another hand", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick up the teal microphone and move it to the opposite side", + "Lift the teal microphone and hand it over to the other arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and pass it across.", + "Grip the textured white microphone head and pass it to the other side", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the teal microphone and hand it to the other side easily.", + "Use one hand to grab the textured white microphone head and pass it.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Secure the handheld teal microphone from the table and transfer it.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Hold the microphone with slider switch and deliver it to another side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the teal microphone and move it to another hand.", + "Hold the teal microphone and shift it to the other arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Hold the teal microphone securely and shift it to another arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Hold the teal microphone and pass it to the other hand.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Take the white and teal sound microphone and move it to the other hand.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grip the white and teal sound microphone and pass it to the other side" + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode471.json b/handover_mic/franka_randomized_500/instructions/episode471.json new file mode 100644 index 0000000000000000000000000000000000000000..4dbb7d5ee87952700912ef23ce5b53922c376fc4 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode471.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Lift the microphone for voice recording and pass it across.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Hold the handheld microphone with one hand and transfer it", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the handheld microphone and pass it to the other hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the compact size microphone and hand it over to the other side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grab the handheld microphone and transfer it to another hand", + "Pick up the metal head microphone and hand it to the other side.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Grasp the microphone with black tip and white body and pass it across.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Take the compact size microphone and move it to another hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the handheld microphone and deliver it to another side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the handheld microphone and pass it to the other hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the black and white microphone, then pass it across without delay.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the compact size microphone and hand it to the other side.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Seize the handheld microphone and offer it to the other arm", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Take the metal head microphone and move it to another hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the black and white microphone and move it to the other hand.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it" + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode472.json b/handover_mic/franka_randomized_500/instructions/episode472.json new file mode 100644 index 0000000000000000000000000000000000000000..d4b1119c285257e704d543207afa1925bc6db7a8 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode472.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the teal microphone and pass it to the other hand.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Secure the teal microphone using one arm and transfer it.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Take the compact teal and white microphone and move it to another hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grasp the handheld teal microphone and pass it across.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the sound microphone with teal body and pass it across.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Grasp the textured white microphone head and pass it across.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the microphone with slider switch and pass it across.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Secure the microphone with slider switch from the table and transfer it.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Pick the teal microphone and transfer it to the other arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Hold the sound microphone with teal body and pass it to the other hand." + ], + "unseen": [ + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode473.json b/handover_mic/franka_randomized_500/instructions/episode473.json new file mode 100644 index 0000000000000000000000000000000000000000..e782478d793bf077b3e43306ff85bdf1c01e0034 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode473.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Grip the black and white microphone and pass it to the other side", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the compact size microphone with one hand and transfer it", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the compact size microphone and move it to the other hand.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the metal head microphone and hand it over to the other side.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the compact size microphone and shift it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Take the compact size microphone and pass it to another hand", + "Pick the compact size microphone and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the metal head microphone, then give it to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Secure the compact size microphone using one arm and transfer it." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode474.json b/handover_mic/franka_randomized_500/instructions/episode474.json new file mode 100644 index 0000000000000000000000000000000000000000..da4a52950be76fae773ae26e178154f8fab78a1b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode474.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Take the microphone for recording sound and pass it to another hand", + "Seize the round head microphone and offer it to the other arm", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the microphone with round foam head and pass it across.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Reach for the small audio microphone and move it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the small audio microphone and transfer it to another hand", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the round head microphone and move it to another hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Take the small audio microphone and pass it to another hand", + "Seize the small audio microphone and offer it to the other arm", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grasp the small audio microphone and pass it across.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it to someone else." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode475.json b/handover_mic/franka_randomized_500/instructions/episode475.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1fb33574af76fcc8b089ba29e3f6b867376205 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode475.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Grasp the small audio microphone, then give it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grip the round head microphone and pass it to the other side", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding and move it to another hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the round head microphone and deliver it to another side.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and pass it across.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head and move it to another hand.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the dark blue microphone and hand it to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode476.json b/handover_mic/franka_randomized_500/instructions/episode476.json new file mode 100644 index 0000000000000000000000000000000000000000..e9824637c3b8f8f0d0332ca10485e78768c91713 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode476.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white microphone handle black accents and pass it across.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the mesh-patterned microphone head and pass it to another hand", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Seize the metal head microphone and offer it to the other arm", + "Secure the microphone for voice recording from the table and transfer it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grasp the compact size microphone and pass it across.", + "Lift the handheld microphone and hand it to the other side easily.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the microphone with textured metal head and pass it to another hand", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick the handheld microphone and transfer it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Hold the compact size microphone with one hand and transfer it", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the compact size microphone and pass it across.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the metal head microphone and shift it to the other arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the metal head microphone and deliver it to another side.", + "Take the compact size microphone and move it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Grasp the handheld microphone and switch it to another hand." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode477.json b/handover_mic/franka_randomized_500/instructions/episode477.json new file mode 100644 index 0000000000000000000000000000000000000000..5602db25014212112c16d705ddc766de56857bc1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode477.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the handheld microphone and pass it to the other hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the handheld microphone and pass it across.", + "Lift the black and white microphone and hand it to the other side easily.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the metal head microphone and pass it to another hand", + "Lift the compact size microphone and hand it over to the other side.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Hold the handheld microphone securely and shift it to another arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the microphone for voice recording and pass it across.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Hold the handheld microphone with one hand and transfer it", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Pick the handheld microphone from the surface and switch hands.", + "Grab the handheld microphone and transfer it to another hand", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Take the compact size microphone and move it to the other hand.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Hold the black and white microphone and deliver it to another side.", + "Seize the black and white microphone and offer it to the other arm", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Secure the compact size microphone using one arm and transfer it.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the handheld microphone and hand it to the other side easily.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Grip the handheld microphone and pass it to the other side", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Take the black and white microphone and move it to another hand.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grab the black and white microphone and transfer it to another hand", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Secure the metal head microphone using one arm and transfer it.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Hold the black and white microphone and pass it to the other hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the black and white microphone and pass it across.", + "Lift the metal head microphone and hand it to the other side easily." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode479.json b/handover_mic/franka_randomized_500/instructions/episode479.json new file mode 100644 index 0000000000000000000000000000000000000000..8c999e8f458288bae73f67bd5992f494b80992c5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode479.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the sound microphone with teal body and deliver it to another side.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the textured white microphone head and pass it across.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Hold the microphone with slider switch with one hand and transfer it", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Take the white and teal sound microphone and move it to another hand.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Lift the handheld teal microphone and pass it across.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Hold the handheld teal microphone with one hand and transfer it", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grip the sound microphone with teal body and pass it to the other side", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Take the rounded white tip microphone and pass it to another hand", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Take the sound microphone with teal body and move it to another hand.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Lift the teal microphone, then pass it across without delay.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Lift the white bottom microphone with textured tip and pass it across.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode48.json b/handover_mic/franka_randomized_500/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8ba9ee8db233054d8da95af836674bb4683366 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Hold the teal microphone with one hand and transfer it", + "Grasp the teal microphone and switch it to another hand.", + "Hold the textured white microphone head and pass it to the other hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Lift the textured white microphone head and hand it over to the other side.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Pick the teal microphone from the surface and switch hands.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the microphone with slider switch and pass it across.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the handheld teal microphone and pass it to another hand", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Grip the compact teal and white microphone and pass it to the other side", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Take the teal microphone and move it to the other hand.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Hold the teal microphone with one hand and transfer it", + "Grasp the teal microphone and switch it to another hand.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Lift the teal microphone and hand it over to the other side.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Lift the microphone with slider switch and pass it across.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Lift the textured white microphone head, then pass it across without delay.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Hold the teal microphone and shift it to the other arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm." + ], + "unseen": [ + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode480.json b/handover_mic/franka_randomized_500/instructions/episode480.json new file mode 100644 index 0000000000000000000000000000000000000000..f148757d1eb32dcafb8ae91f97e75299b0739e67 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode480.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal head microphone and smoothly give it to the other arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the black and white microphone and pass it across.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the compact size microphone and move it to another hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Take the metal head microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grasp the microphone with textured metal head and pass it across.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the handheld microphone, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grip the compact size microphone and pass it to the other side", + "Take the microphone for voice recording and move it to another hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the black and white microphone and pass it to another hand", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grasp the compact size microphone and switch it to another hand." + ], + "unseen": [ + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode481.json b/handover_mic/franka_randomized_500/instructions/episode481.json new file mode 100644 index 0000000000000000000000000000000000000000..c8f984c23a2773621e1cf149fb95206efd5a3414 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode481.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white microphone handle black accents and hand it to the other side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the metal head microphone and pass it across.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grasp the microphone with textured metal head and pass it across.", + "Seize the compact size microphone and offer it to the other arm", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Take the metal head microphone and move it to another hand.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the compact size microphone and switch it to another hand.", + "Lift the metal head microphone and pass it across.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the microphone with rounded mesh head and pass it across.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Take the handheld microphone and pass it to another hand", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the handheld microphone and shift it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode483.json b/handover_mic/franka_randomized_500/instructions/episode483.json new file mode 100644 index 0000000000000000000000000000000000000000..29e5f9ba4202f4f881bee6d0b5868f712dae0809 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode483.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact size microphone and pass it across.", + "Hold the handheld microphone and deliver it to another side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Grasp the compact size microphone and pass it across.", + "Lift the compact size microphone and hand it over to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Seize the compact size microphone and offer it to the other arm", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the handheld microphone and pass it to another hand", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grip the white microphone handle black accents and pass it to the other side", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Take the microphone with textured metal head and move it to another hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Take the compact size microphone and move it to the other hand.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the compact size microphone and pass it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the compact size microphone and hand it over to the other arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Pick up the black and white microphone and move it to the opposite side", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Take the black and white microphone and pass it to another hand", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Grip the handheld microphone and pass it to the other side", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grab the metal head microphone and transfer it to another hand", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode484.json b/handover_mic/franka_randomized_500/instructions/episode484.json new file mode 100644 index 0000000000000000000000000000000000000000..4848521d3774b4a57093410053ff5933a4081ee5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode484.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with textured metal head and pass it to another hand", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Seize the metal head microphone and offer it to the other arm", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Grab the black and white microphone and transfer it to another hand", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the metal head microphone and pass it across.", + "Lift the handheld microphone and hand it to someone else.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Lift the handheld microphone and pass it across.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the metal head microphone, then give it to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the metal head microphone and pass it to another hand", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Take the compact size microphone and move it to another hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the black and white microphone and switch it to another hand.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Take the microphone with textured metal head and move it to the other hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Lift the microphone with textured metal head and pass it across.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the metal head microphone and hand it over to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grasp the handheld microphone, then give it to the other arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the handheld microphone and deliver it to another side.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Seize the handheld microphone and offer it to the other arm", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick the black and white microphone from the surface and switch hands." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode486.json b/handover_mic/franka_randomized_500/instructions/episode486.json new file mode 100644 index 0000000000000000000000000000000000000000..3b32ae2603e406acf4d214c53c4a0c5cd0ed4681 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode486.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Seize the black and white microphone and offer it to the other arm", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the metal head microphone and pass it across.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the black and white microphone and move it to the opposite side", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the compact size microphone and pass it to another hand", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the handheld microphone and shift it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grasp the metal head microphone and pass it across.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Seize the compact size microphone and offer it to the other arm", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone with black tip and white body and pass it across.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the handheld microphone and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grip the black and white microphone and pass it to the other side", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the handheld microphone and pass it to another hand", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Hold the compact size microphone and pass it to the other hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Pick up the microphone for voice recording and hand it to the other side." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode488.json b/handover_mic/franka_randomized_500/instructions/episode488.json new file mode 100644 index 0000000000000000000000000000000000000000..d4894bfb64a2ed9a88af33fceeeec6a916b97087 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode488.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the handheld teal microphone and deliver it to the other side.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it to someone else.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Lift the compact teal and white microphone and pass it across.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Reach for the textured white microphone head and move it to the other hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the textured white microphone head and pass it across.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Take the textured white microphone head and move it to the other hand.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the textured white microphone head and pass it across.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Take the teal microphone and move it to another hand.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Hold the teal microphone with one hand and transfer it", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the teal microphone, then pass it across without delay.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Grip the rounded white tip microphone and pass it to the other side", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Secure the microphone with slider switch from the table and transfer it.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Grasp the white and teal sound microphone and pass it across.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the handheld teal microphone and pass it across.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Take the microphone with white rounded head and move it to another hand." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode489.json b/handover_mic/franka_randomized_500/instructions/episode489.json new file mode 100644 index 0000000000000000000000000000000000000000..e8cdf7adad6bb58fa471680bb7ce357589b9264d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode489.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Seize the sound microphone with teal body and offer it to the other arm", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grab the teal microphone and transfer it to another hand", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grab the teal microphone and give it to the opposite arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick the teal microphone from the surface and switch hands.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Lift the textured white microphone head and pass it across.", + "Grasp the microphone with slider switch and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grip the teal microphone and pass it to the other side", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Secure the handheld teal microphone from the table and transfer it.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Grasp the textured white microphone head and pass it across.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Take the teal microphone and pass it to another hand", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Take the rounded white tip microphone and move it to another hand.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Seize the teal microphone and offer it to the other arm", + "Lift the microphone with white rounded head and hand it over to the other side." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode49.json b/handover_mic/franka_randomized_500/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..6895f7a7a55b1a9d31eaef87e23d3c0cea8821ab --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the metal head microphone and deliver it to another side.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Take the handheld microphone and pass it to another hand", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the handheld microphone, then pass it across without delay.", + "Seize the black and white microphone and offer it to the other arm", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Lift the microphone with textured metal head and pass it across.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the compact size microphone and deliver it to another side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Take the handheld microphone and move it to another hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Take the microphone for voice recording and pass it to another hand", + "Pick the compact size microphone from the surface and switch hands.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the handheld microphone, then pass it across without delay.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the black and white microphone and shift it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the metal head microphone and switch it to another hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with cylindrical handle and move it to the other hand." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode490.json b/handover_mic/franka_randomized_500/instructions/episode490.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb9baf20e94c2a8375a2ee3ccad7f69b4daa1d9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode490.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the teal microphone and shift it to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Grab the textured white microphone head and give it to the opposite arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the microphone with slider switch and hand it to someone else.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Lift the sound microphone with teal body and pass it across.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Pick the teal microphone from the surface and switch hands.", + "Grasp the textured white microphone head and switch it to another hand.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grip the handheld teal microphone and pass it to the other side", + "Take the rounded white tip microphone and move it to the other hand.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Hold the teal microphone with one hand and transfer it", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grasp the teal microphone and pass it across.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Take the compact teal and white microphone and pass it to another hand", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Lift the handheld teal microphone and hand it to someone else.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and pass it across.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Use one hand to grab the microphone with slider switch and pass it.", + "Grasp the rounded white tip microphone and pass it across.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode491.json b/handover_mic/franka_randomized_500/instructions/episode491.json new file mode 100644 index 0000000000000000000000000000000000000000..9f877cfa84fb11fe1c9c771e3da9431cb9d055e3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode491.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the compact size microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the handheld microphone and move it to another hand.", + "Grip the microphone with textured metal head and pass it to the other side", + "Grasp the metal head microphone and pass it across.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the handheld microphone and hand it over to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with textured metal head and pass it to another hand", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the metal head microphone and pass it across.", + "Hold the black and white microphone and shift it to the other arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the microphone with textured metal head and move it to another hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Seize the compact size microphone and offer it to the other arm", + "Secure the handheld microphone using one arm and transfer it.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick up the metal head microphone and move it to the opposite side", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Lift the microphone for voice recording and pass it across.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Take the metal head microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Use one hand to grab the handheld microphone and pass it." + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode492.json b/handover_mic/franka_randomized_500/instructions/episode492.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc90ee2e1bd05d1a0c51f577dd06985e711c871 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode492.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact teal and white microphone, then pass it across without delay.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Hold the handheld teal microphone and deliver it to another side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Take the teal microphone and pass it to another hand", + "Hold the microphone with slider switch and shift it to the other arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Lift the sound microphone with teal body and pass it across.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grip the sound microphone with teal body and pass it to the other side", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Take the compact teal and white microphone and move it to another hand.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Grasp the teal microphone and shift it to the opposite hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the microphone with slider switch and deliver it to another side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the compact teal and white microphone and pass it across.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grip the microphone with slider switch and pass it to the other side", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Take the sound microphone with teal body and move it to another hand.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.", + "Hold the microphone with slider switch with one hand and transfer it", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone, then give it to the other arm." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode493.json b/handover_mic/franka_randomized_500/instructions/episode493.json new file mode 100644 index 0000000000000000000000000000000000000000..7b26d82bf965c896ec929dc6b23fd955dbc5a3cf --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode493.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Take the small audio microphone and pass it to another hand", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the round head microphone securely and shift it to another arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Secure the small audio microphone using one arm and transfer it.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the microphone with round foam head and pass it across.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the small audio microphone securely and shift it to another arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Secure the microphone with round foam head using one arm and transfer it.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the small audio microphone and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the round head microphone and hand it to someone else.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Take the dark blue microphone and pass it to another hand", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode495.json b/handover_mic/franka_randomized_500/instructions/episode495.json new file mode 100644 index 0000000000000000000000000000000000000000..a35283f0839e614c0c09d46737a3faa0a513e187 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode495.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld microphone and deliver it to another side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the compact size microphone and hand it over to the other side.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the compact size microphone and pass it across.", + "Grasp the microphone with textured metal head and pass it across.", + "Use one hand to grab the metal head microphone and pass it.", + "Hold the black and white microphone with one hand and transfer it", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the metal head microphone and hand it to the other side easily.", + "Pick the black and white microphone and transfer it to the other arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the handheld microphone and hand it over to the other side.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the metal head microphone and shift it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Use one hand to grab the handheld microphone and pass it.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the metal head microphone and give it to the opposite arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the handheld microphone and pass it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to the other side easily.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with textured metal head and move it to the other hand." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode496.json b/handover_mic/franka_randomized_500/instructions/episode496.json new file mode 100644 index 0000000000000000000000000000000000000000..b5bd941084c505d25ec905756bdc91b925d1b299 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode496.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the compact size microphone and hand it to someone else.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording and pass it across.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Lift the black and white microphone and deliver it to the other side.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Seize the black and white microphone and offer it to the other arm", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Grab the metal head microphone and give it to the opposite arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the compact size microphone and deliver it to another side.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the metal head microphone and pass it across.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Reach for the compact size microphone and move it to the other hand.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the handheld microphone and hand it to the other side easily.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Secure the black and white microphone from the table and transfer it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grasp the black and white microphone and switch it to another hand.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the compact size microphone and transfer it to another hand" + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode497.json b/handover_mic/franka_randomized_500/instructions/episode497.json new file mode 100644 index 0000000000000000000000000000000000000000..17757840df80b625b5c690fdbe89dbd7a1a11874 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode497.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the small audio microphone and pass it to another hand", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the round head microphone and pass it to another hand", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the round head microphone and pass it to the other hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grip the round head microphone and pass it to the other side", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the microphone with round foam head and pass it to the other hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode498.json b/handover_mic/franka_randomized_500/instructions/episode498.json new file mode 100644 index 0000000000000000000000000000000000000000..aa7cb45a341a8843a2b7383328019c826379717c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode498.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Lift the dark blue microphone and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the round head microphone and move it to the opposite side", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Pick up the round head microphone and hand it to the other side.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the round head microphone and pass it across.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grasp the small audio microphone and pass it across.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Take the round head microphone and pass it to another hand", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the round head microphone and switch it to another hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Seize the gray and dark blue microphone and offer it to the other arm" + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode5.json b/handover_mic/franka_randomized_500/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..b1395fc170276a67f6decf3907375bb2f7e1e525 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the handheld teal microphone and hand it to the other side.", + "Take the teal microphone and move it to another hand.", + "Pick up the teal microphone and move it to the opposite side", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Hold the teal microphone and deliver it to another side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Take the handheld teal microphone and pass it to another hand", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the white and teal sound microphone and move it to the other hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Reach for the teal microphone and move it to the other hand.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Secure the textured white microphone head using one arm and transfer it.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Use one hand to grab the textured white microphone head and pass it.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Grasp the textured white microphone head and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the microphone with white rounded head and move it to another hand.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the rounded white tip microphone and pass it across.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Take the microphone with white rounded head and pass it to another hand", + "Lift the textured white microphone head and hand it to the other side easily.", + "Take the sound microphone with teal body and move it to the other hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and hand it to someone else.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Lift the teal microphone and deliver it to the other side.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grasp the white and teal sound microphone and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Grip the handheld teal microphone and pass it to the other side", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Hold the handheld teal microphone with one hand and transfer it", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Use the left arm to hold the microphone with white rounded head, then give it to the right arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Take the textured white microphone head and move it to another hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Grab the long microphone with smooth teal grip and transfer it to another hand", + "Lift the textured white microphone head and pass it across.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Take the white and teal sound microphone and pass it to another hand" + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode51.json b/handover_mic/franka_randomized_500/instructions/episode51.json new file mode 100644 index 0000000000000000000000000000000000000000..d57471669278543bbcafc0f91d90caed46f6b867 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode51.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone, then pass it across without delay.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the round head microphone and transfer it to the opposite side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the microphone for recording sound and move it to the other hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the small audio microphone and pass it to another hand", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Reach for the round head microphone and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the dark blue microphone and move it to another hand.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the dark blue microphone and pass it across.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the round head microphone with one hand and transfer it", + "Take the dark blue microphone and move it to the other hand.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode53.json b/handover_mic/franka_randomized_500/instructions/episode53.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e30c51e21b1d11411bc52773c6a3d4162e62f3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode53.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grip the microphone for recording sound and pass it to the other side", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone with round foam head and move it to the other hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Seize the dark blue microphone and offer it to the other arm", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the microphone with dark blue padding and move it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the dark blue microphone and pass it to another hand", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the small audio microphone and pass it across.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the dark blue microphone and shift it to the other arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the round head microphone and switch it to another hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode55.json b/handover_mic/franka_randomized_500/instructions/episode55.json new file mode 100644 index 0000000000000000000000000000000000000000..ebfd089a37e563c95c86538f492fc0073b411881 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode55.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Seize the metal head microphone and offer it to the other arm", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the compact size microphone and hand it to the other side.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the compact size microphone and pass it to another hand", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grab the handheld microphone and transfer it to another hand", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and pass it across.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the microphone for voice recording and pass it across.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Secure the handheld microphone from the table and transfer it.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick up the handheld microphone and hand it to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Lift the microphone with textured metal head and pass it across.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the metal head microphone securely and shift it to another arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Hold the metal head microphone with one hand and transfer it", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Hold the compact size microphone and deliver it to another side.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grip the compact size microphone and pass it to the other side", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Pick up the black and white microphone and move it to the opposite side", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Reach for the compact size microphone and move it to the other hand.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode56.json b/handover_mic/franka_randomized_500/instructions/episode56.json new file mode 100644 index 0000000000000000000000000000000000000000..59ed56aa3133497d45267ef7427dc777ece4f5f5 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode56.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grab the dark blue microphone and transfer it to another hand", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the dark blue microphone and move it to the other hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the small audio microphone and pass it across.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone for recording sound, then pass it across without delay.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the round head microphone and transfer it to another hand", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Grab the round head microphone and give it to the opposite arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Lift the round head microphone and hand it to someone else.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the dark blue microphone and pass it across.", + "Take the dark blue microphone and move it to the other hand.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Secure the microphone for recording sound from the table and transfer it.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone covered with foam tip and transfer it to another hand" + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode57.json b/handover_mic/franka_randomized_500/instructions/episode57.json new file mode 100644 index 0000000000000000000000000000000000000000..0c47b50a174cc093821a633d98e2a08712cd0282 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode57.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Take the metal head microphone and move it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Seize the black and white microphone and offer it to the other arm", + "Take the handheld microphone and pass it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Lift the black and white microphone and hand it to someone else.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone with rounded mesh head and pass it across.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the handheld microphone with one hand and transfer it", + "Grasp the mesh-patterned microphone head and pass it across.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Hold the handheld microphone and deliver it to another side.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the compact size microphone and switch it to another hand.", + "Grip the handheld microphone and pass it to the other side", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Grab the metal head microphone and transfer it to another hand", + "Use one hand to grab the microphone for voice recording and pass it.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Take the microphone for voice recording and pass it to another hand", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and hand it to someone else." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode59.json b/handover_mic/franka_randomized_500/instructions/episode59.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec4a0a851ca8bb2e16adf1677a3fae271ba3d79 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode59.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the round head microphone and give it to the opposite arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grasp the round head microphone and switch it to another hand.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and pass it across.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Secure the small audio microphone from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the round head microphone and pass it across.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the round head microphone, then give it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand" + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode6.json b/handover_mic/franka_randomized_500/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..9088f964983daa815d35979599f409d6443125fd --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white and teal sound microphone and deliver it to another side.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Take the compact teal and white microphone and move it to another hand.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Lift the teal microphone and hand it over to the other side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grip the handheld teal microphone and pass it to the other side", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Hold the teal microphone with one hand and transfer it", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with slider switch and deliver it to another side.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grip the sound microphone with teal body and pass it to the other side", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Take the teal microphone and move it to the other hand.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Take the handheld teal microphone and pass it to another hand", + "Grab the white and teal sound microphone and transfer it to another hand", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Grasp the white and teal sound microphone, then give it to the other arm." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode61.json b/handover_mic/franka_randomized_500/instructions/episode61.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee97d7028e97d803ad00b803edfb7e08d813ac7 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode61.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Hold the textured white microphone head and deliver it to another side.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grip the microphone with slider switch and pass it to the other side", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Take the handheld teal microphone and pass it to another hand", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grasp the rounded white tip microphone and pass it across.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the microphone with white rounded head and hand it to someone else.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grab the sound microphone with teal body using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch and pass it across.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Lift the teal microphone and hand it over to the other arm.", + "Take the microphone with slider switch and move it to another hand.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Hold the textured white microphone head and pass it to the other hand.", + "Take the textured white microphone head and move it to the other hand.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Grasp the compact teal and white microphone and pass it across.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it to someone else.", + "Grab the handheld teal microphone and transfer it to another hand", + "Lift the teal microphone and hand it to the other side easily.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grab the white and teal sound microphone using the right arm and pass it over to the left arm.", + "Lift the white and teal sound microphone and pass it across.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode62.json b/handover_mic/franka_randomized_500/instructions/episode62.json new file mode 100644 index 0000000000000000000000000000000000000000..0043567e309f3c0057702ea150cf289eabeec360 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode62.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Seize the black and white microphone and offer it to the other arm", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the metal head microphone and move it to the opposite side", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the black and white microphone and pass it across.", + "Pick the metal head microphone from the surface and switch hands.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the compact size microphone and deliver it to the other side.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Secure the compact size microphone from the table and transfer it.", + "Take the metal head microphone and move it to the other hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the microphone for voice recording and pass it across.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the handheld microphone and pass it to the other hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Secure the metal head microphone using one arm and transfer it.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the microphone for voice recording with one hand and transfer it", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Take the handheld microphone and move it to the other hand.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Grab the metal head microphone and give it to the opposite arm." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode64.json b/handover_mic/franka_randomized_500/instructions/episode64.json new file mode 100644 index 0000000000000000000000000000000000000000..a1534c4191d5879974e00c6320f0a4472bf12082 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode64.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the round head microphone and pass it across.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the gray and dark blue microphone and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the round head microphone, then give it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the microphone with dark blue padding and pass it to another hand", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grab the round head microphone and transfer it to another hand", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the round head microphone and pass it to the other side", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode65.json b/handover_mic/franka_randomized_500/instructions/episode65.json new file mode 100644 index 0000000000000000000000000000000000000000..741ddd3f204b631d81a92f3cc4c4f1ac1e67b55c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode65.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the microphone with round foam head and pass it across.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the round head microphone and shift it to the other arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grab the round head microphone and transfer it to another hand", + "Take the microphone with round foam head and move it to the other hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the dark blue microphone and hand it to someone else.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the gray and dark blue microphone and pass it across.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Take the microphone with dark blue padding and move it to another hand.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the small audio microphone, then give it to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the microphone with round foam head and pass it across.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Take the round head microphone using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode66.json b/handover_mic/franka_randomized_500/instructions/episode66.json new file mode 100644 index 0000000000000000000000000000000000000000..eccead476a3d3ac72a9f68f45249d3481eaf5f0b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode66.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Pick up the teal microphone and move it to the opposite side", + "Lift the microphone with white rounded head and hand it to someone else.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Hold the textured white microphone head with one hand and transfer it", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Pick up the teal microphone and hand it to the other side.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the teal microphone and hand it over to the other arm.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Take the handheld teal microphone and move it to another hand.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grip the white and teal sound microphone and pass it to the other side", + "Secure the microphone with white rounded head from the table and transfer it.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the plastic teal microphone with slider with the left arm and give it to the right arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Secure the teal microphone using one arm and transfer it.", + "Grab the textured white microphone head and transfer it to another hand", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Take the microphone with slider switch and pass it to another hand", + "Lift the white bottom microphone with textured tip using the left arm and pass it to the right arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Grasp the rounded white tip microphone and pass it across.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Hold the teal microphone and shift it to the other arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the white and teal sound microphone and deliver it to another side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Take the microphone with white rounded head and move it to another hand.", + "Take the white and teal sound microphone and move it to the other hand.", + "Grip the textured white microphone head and pass it to the other side", + "Secure the textured white microphone head from the table and transfer it.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Lift the textured white microphone head and pass it across.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the microphone with white rounded head and pass it across.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Hold the teal microphone and shift it to the other arm.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Grasp the textured white microphone head and switch it to another hand.", + "Pick up the compact teal and white microphone and move it to the opposite side" + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode67.json b/handover_mic/franka_randomized_500/instructions/episode67.json new file mode 100644 index 0000000000000000000000000000000000000000..1976e325bb037fb5c90e2147fabdb50888ea7a24 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode67.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the audio microphone with soft covering and pass it across.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grasp the round head microphone and pass it across.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the small audio microphone and pass it across.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Pick up the round head microphone and move it to the opposite side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the small audio microphone and pass it to another hand", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the microphone with round foam head and pass it across.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Hold the round head microphone and deliver it to another side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode68.json b/handover_mic/franka_randomized_500/instructions/episode68.json new file mode 100644 index 0000000000000000000000000000000000000000..18768878c864c726578d550ddd1aba7da73584e6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode68.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the small audio microphone, then pass it across without delay.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the small audio microphone and pass it across.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the dark blue microphone and move it to another hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the microphone covered with foam tip and move it to the other hand.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grip the small audio microphone and pass it to the other side", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Take the microphone for recording sound and move it to the other hand.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode70.json b/handover_mic/franka_randomized_500/instructions/episode70.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ca5723693447a69f5dad5c93f05ebdb1997e11 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode70.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the microphone for voice recording and pass it to the other side", + "Use one hand to grab the compact size microphone and pass it.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Hold the metal head microphone and pass it to the other hand.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the metal head microphone and deliver it to the other side.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Lift the black and white microphone and pass it across.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the compact size microphone and pass it to the other hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the metal head microphone and deliver it to the other side.", + "Secure the metal head microphone using one arm and transfer it.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Pick up the black and white microphone and hand it to the other side.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the microphone for voice recording and hand it over to the other side.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the compact size microphone securely and shift it to another arm.", + "Take the black and white microphone and pass it to another hand", + "Lift the microphone with textured metal head and pass it across.", + "Hold the handheld microphone and shift it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the white microphone handle black accents and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the handheld microphone and hand it over to the other arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the metal head microphone and pass it to the other hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode72.json b/handover_mic/franka_randomized_500/instructions/episode72.json new file mode 100644 index 0000000000000000000000000000000000000000..56eef0f90dc26d17de5207b3f70c55e32bcf5435 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode72.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray and dark blue microphone and move it to another hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the round head microphone with one hand and transfer it", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the microphone for recording sound and pass it to another hand", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Take the small audio microphone and move it to another hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the round head microphone and pass it across.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the round head microphone and give it to the opposite arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the gray and dark blue microphone and pass it to another hand", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Secure the round head microphone from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode73.json b/handover_mic/franka_randomized_500/instructions/episode73.json new file mode 100644 index 0000000000000000000000000000000000000000..7c331f4a6085ed5ace76c24a84cd553d60d634f3 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode73.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the metal head microphone and pass it to another hand", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Take the white microphone handle black accents and move it to the other hand.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Lift the black and white microphone, then pass it across without delay.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Secure the metal head microphone from the table and transfer it.", + "Pick up the compact size microphone and hand it to the other side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Hold the compact size microphone securely and shift it to another arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grasp the metal head microphone and switch it to another hand.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the microphone for voice recording and pass it across.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Take the compact size microphone and move it to another hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grasp the compact size microphone and pass it across.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grip the handheld microphone and pass it to the other side", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the metal head microphone, shift it, and release it to the other side.", + "Lift the black and white microphone and pass it across.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick the compact size microphone and transfer it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Take the compact size microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode75.json b/handover_mic/franka_randomized_500/instructions/episode75.json new file mode 100644 index 0000000000000000000000000000000000000000..22822c7ea047516d46ca839d2967a3a6aba56f29 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode75.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the handheld microphone and hand it to the other side easily.", + "Grasp the microphone with textured metal head and pass it across.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Secure the metal head microphone using one arm and transfer it.", + "Lift the black and white microphone and hand it to someone else.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the metal head microphone securely and shift it to another arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the handheld microphone, then pass it across without delay.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Lift the microphone with black tip and white body and pass it across.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Lift the handheld microphone and hand it to someone else.", + "Secure the black and white microphone from the table and transfer it.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grab the black and white microphone and give it to the opposite arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Seize the handheld microphone and offer it to the other arm", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the smooth plastic microphone handle and pass it across.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the microphone with rounded mesh head and hand it to the other side easily." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode76.json b/handover_mic/franka_randomized_500/instructions/episode76.json new file mode 100644 index 0000000000000000000000000000000000000000..2537d63785629482ff534a3461062568c92bcb95 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode76.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with black tip and white body and pass it across.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the compact size microphone and pass it across.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Reach for the black and white microphone and move it to the other hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Take the metal head microphone and move it to the other hand.", + "Hold the handheld microphone and deliver it to another side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Take the compact size microphone and move it to another hand.", + "Hold the black and white microphone and pass it to the other hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the handheld microphone and move it to the opposite side", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the handheld microphone and pass it across.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the metal head microphone and pass it across.", + "Grip the compact size microphone and pass it to the other side", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it over to the other side.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Pick the handheld microphone from the surface and switch hands.", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the handheld microphone and hand it to someone else.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the microphone with black tip and white body and move it to another hand.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the metal head microphone and move it to the opposite side", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grasp the black and white microphone and pass it across.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the compact size microphone and pass it across.", + "Grip the handheld microphone and pass it to the other side", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode77.json b/handover_mic/franka_randomized_500/instructions/episode77.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7ebfb4dad98b3d0013469fa6d95b6965ac84a6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode77.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the handheld microphone and move it to the other hand.", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the white microphone handle black accents and pass it across.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the compact size microphone and transfer it to another hand", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with black tip and white body and pass it across.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Secure the metal head microphone from the table and transfer it.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the handheld microphone and deliver it to another side.", + "Take the microphone for voice recording and move it to the other hand.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the metal head microphone and pass it across.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the handheld microphone and transfer it to another hand", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the compact size microphone and hand it to someone else.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grip the metal head microphone and pass it to the other side", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode78.json b/handover_mic/franka_randomized_500/instructions/episode78.json new file mode 100644 index 0000000000000000000000000000000000000000..8099b0b1cbeaed2f3b885a2babda0db948e76f1b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode78.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Take the small audio microphone and move it to another hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grip the small audio microphone and pass it to the other side", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the round head microphone with one hand and transfer it", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the round head microphone and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone with round foam head and hand it to someone else.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Lift the round head microphone and pass it across.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Take the dark blue microphone and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the round head microphone and switch it to another hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the microphone with round foam head and hand it to someone else.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Lift the round head microphone and pass it across.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grip the round head microphone and pass it to the other side" + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode8.json b/handover_mic/franka_randomized_500/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..186033ee88e9f8490676c600906d561d4f7cde9c --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the textured white microphone head and hand it over to the other side.", + "Lift the textured white microphone head using the right arm and pass it to the left arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Lift the microphone with slider switch and pass it across.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grasp the sound microphone with teal body and pass it across.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Seize the textured white microphone head and offer it to the other arm", + "Take the teal microphone, shift it, and release it to the other side.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Pick up the teal microphone and move it to the opposite side", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Take the sound microphone with teal body and pass it to another hand", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Hold the teal microphone with one hand and transfer it", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Take the teal microphone and move it to another hand.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Lift the teal microphone and hand it to someone else.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Lift the teal microphone and pass it across.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Take the handheld teal microphone, shift it, and release it to the other side.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Take the teal microphone and move it to the other hand.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Grab the microphone with slider switch and transfer it to another hand", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the teal microphone and deliver it to the other side.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Take the teal microphone using the right arm and transfer it to the left arm.", + "Take the teal microphone and move it to another hand.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Use the right arm to grab the white bottom microphone with textured tip and transfer it to the left arm.", + "Lift the teal microphone and hand it to someone else.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Lift the compact teal and white microphone and pass it across.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Pick the long microphone with smooth teal grip and transfer it to the other arm." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode80.json b/handover_mic/franka_randomized_500/instructions/episode80.json new file mode 100644 index 0000000000000000000000000000000000000000..f28a35f1c2fec41300acee7072af99de19bab572 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode80.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the teal microphone and hand it to someone else.", + "Secure the teal microphone using one arm and transfer it.", + "Secure the microphone with slider switch from the table and transfer it.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Take the rounded white tip microphone and pass it to another hand", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the sound microphone with teal body and pass it across.", + "Lift the textured white microphone head and pass it across.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Take the teal microphone and move it to the other hand.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.", + "Take the long microphone with smooth teal grip, shift it, and release it to the other side.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the rounded white tip microphone and hand it to someone else.", + "Secure the textured white microphone head using one arm and transfer it.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Take the plastic teal microphone with slider and pass it to another hand", + "Take the plastic teal microphone with slider and move it to another hand.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the handheld teal microphone and pass it across.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Grab the teal microphone and transfer it to another hand", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use the left arm to hold the microphone with slider switch, then give it to the right arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Lift the microphone with white rounded head using the left arm and pass it to the right arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Pick up the teal microphone and move it to the opposite side", + "Lift the handheld teal microphone and hand it to someone else." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode81.json b/handover_mic/franka_randomized_500/instructions/episode81.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7ac7140a69338feee577192e3ecc24fd27a804 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode81.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Take the handheld microphone and move it to the other hand.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the black and white microphone and deliver it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Grab the black and white microphone and transfer it to another hand", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the handheld microphone and switch it to another hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the microphone with textured metal head and hand it to someone else.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Grasp the compact size microphone and pass it across.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Seize the handheld microphone and offer it to the other arm", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grab the metal head microphone and transfer it to another hand", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the handheld microphone and switch it to another hand.", + "Hold the metal head microphone securely and shift it to another arm.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the metal head microphone, then pass it across without delay.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Take the microphone with textured metal head and move it to the other hand." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode82.json b/handover_mic/franka_randomized_500/instructions/episode82.json new file mode 100644 index 0000000000000000000000000000000000000000..d77bd8672d53583c162d2ce7f5abee09d1a917a1 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode82.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Use one hand to grab the dark blue microphone and pass it.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and pass it across.", + "Take the small audio microphone and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Hold the round head microphone with one hand and transfer it", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and pass it across.", + "Take the dark blue microphone and move it to another hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Seize the small audio microphone and offer it to the other arm", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the round head microphone and hand it to someone else.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode83.json b/handover_mic/franka_randomized_500/instructions/episode83.json new file mode 100644 index 0000000000000000000000000000000000000000..9916f89d33939275dd2368fa03cc305eaf64f20d --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode83.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the textured white microphone head and move it to the other hand.", + "Hold the teal microphone and deliver it to another side.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick the teal microphone from the surface and switch hands.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Grasp the handheld teal microphone and pass it across.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the teal microphone and deliver it to the other side.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Take the microphone with white rounded head and move it to another hand.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grasp the sound microphone with teal body and pass it across.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the microphone with slider switch, transfer it, then let go of it smoothly.", + "Lift the compact teal and white microphone and pass it across.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Take the textured white microphone head and pass it to another hand", + "Take the sound microphone with teal body and move it to another hand.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the microphone with white rounded head and move it to the other hand.", + "Hold the white and teal sound microphone and deliver it to another side." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode84.json b/handover_mic/franka_randomized_500/instructions/episode84.json new file mode 100644 index 0000000000000000000000000000000000000000..d87aa90231a516052e6f12855a863e99798e1c7e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode84.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with slider switch using one arm and transfer it.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the teal microphone and hand it over to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Take the white and teal sound microphone using the left arm and transfer it to the right arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the white and teal sound microphone and pass it across.", + "Take the sound microphone with teal body and pass it to another hand", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the microphone with slider switch and deliver it to another side.", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grasp the microphone with slider switch and pass it across.", + "Pick up the teal microphone and move it to the opposite side", + "Grasp the teal microphone and switch it to another hand.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Lift the microphone with slider switch and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the teal microphone and transfer it to another hand", + "Use one hand to grab the microphone with slider switch and pass it.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Reach for the teal microphone and move it to the other hand.", + "Take the rounded white tip microphone and move it to another hand.", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the textured white microphone head and pass it to another hand", + "Seize the white and teal sound microphone and offer it to the other arm", + "Hold the plastic teal microphone with slider and deliver it to another side.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Lift the microphone with slider switch and hand it to someone else.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Grasp the microphone with slider switch and switch it to another hand.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grip the compact teal and white microphone and pass it to the other side", + "Take the teal microphone, shift it, and release it to the other side.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Lift the teal microphone, then pass it across without delay.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the rounded white tip microphone and move it to another hand.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Take the white and teal sound microphone and move it to the other hand.", + "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode85.json b/handover_mic/franka_randomized_500/instructions/episode85.json new file mode 100644 index 0000000000000000000000000000000000000000..a4110fa921c15ba324dc765f294c080123385e71 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode85.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Take the teal microphone and move it to the other hand.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Seize the teal microphone and offer it to the other arm", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Lift the microphone with white rounded head and pass it across.", + "Hold the textured white microphone head and pass it to the other hand.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Grasp the handheld teal microphone and pass it across.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Grip the handheld teal microphone and pass it to the other side", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.", + "Use the right arm to hold the rounded white tip microphone, then give it to the left arm.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Lift the teal microphone and hand it to someone else.", + "Lift the white and teal sound microphone and hand it to the other side easily.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Lift the sound microphone with teal body and pass it across.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Use the right arm to grab the teal microphone and transfer it to the left arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the teal microphone with one hand and transfer it", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the teal microphone and hand it over to the other side.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the sound microphone with teal body with the right arm and give it to the left arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grasp the white bottom microphone with textured tip, then give it to the other arm.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Grip the microphone with slider switch and pass it to the other side", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the white and teal sound microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Hold the teal microphone and shift it to the other arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grasp the textured white microphone head and switch it to another hand.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Lift the teal microphone, then pass it across without delay.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head and deliver it to the other side.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the microphone with slider switch and move it to the other hand.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Hold the textured white microphone head firmly and pass it to the other arm." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode86.json b/handover_mic/franka_randomized_500/instructions/episode86.json new file mode 100644 index 0000000000000000000000000000000000000000..0d720f66f4cc317af56fbf12dae36d55e1be0079 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode86.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Grab the round head microphone and transfer it to another hand", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Use one hand to grab the round head microphone and pass it.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the dark blue microphone and pass it to another hand", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Grab the round head microphone and transfer it to another hand", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Hold the round head microphone and deliver it to another side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Grasp the small audio microphone and pass it across.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Use one hand to grab the microphone for recording sound and pass it.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the round head microphone and pass it to another hand", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode87.json b/handover_mic/franka_randomized_500/instructions/episode87.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb54e29bab4ac97bdc1a1650266d4237436afe9 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode87.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the small audio microphone and switch it to another hand.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Take the dark blue microphone and move it to another hand.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the small audio microphone and pass it across.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the small audio microphone and switch it to another hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the dark blue microphone and pass it across.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Use the left arm to grab the round head microphone and transfer it to the right arm." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode9.json b/handover_mic/franka_randomized_500/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..7c992bfa26b10ce0e0a9861a742d7b49d42b7567 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the round head microphone and pass it to another hand", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Pick up the small audio microphone and hand it to the other side.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and pass it across.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grip the dark blue microphone and pass it to the other side", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Take the small audio microphone and pass it to another hand", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick up the small audio microphone and hand it to the other side.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip and pass it across.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the dark blue microphone and transfer it to another hand", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick up the round head microphone and hand it to the other side.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering securely and shift it to another arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode90.json b/handover_mic/franka_randomized_500/instructions/episode90.json new file mode 100644 index 0000000000000000000000000000000000000000..12137a9c860b60357baafb74da93e8e42b99cc90 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode90.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small audio microphone and pass it across.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grip the round head microphone and pass it to the other side", + "Use one hand to grab the microphone for recording sound and pass it.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Seize the round head microphone and offer it to the other arm", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Pick the round head microphone and transfer it to the other arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the gray and dark blue microphone and pass it to another hand", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Use one hand to grab the dark blue microphone and pass it.", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the dark blue microphone and move it to another hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Seize the round head microphone and offer it to the other arm", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the round head microphone, then pass it across without delay.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone and pass it across.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the small audio microphone and deliver it to the other side.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use one hand to grab the small audio microphone and pass it.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the gray and dark blue microphone and move it to another hand." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode91.json b/handover_mic/franka_randomized_500/instructions/episode91.json new file mode 100644 index 0000000000000000000000000000000000000000..0573e48550ff9e07916e06376adc6c89752a1836 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode91.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Take the dark blue microphone and pass it to another hand", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the microphone for recording sound and pass it across.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the microphone for recording sound and move it to another hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the small audio microphone and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the dark blue microphone and pass it across.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and deliver it to the other side." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode92.json b/handover_mic/franka_randomized_500/instructions/episode92.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a40a9b5dc10a1b990458a7dc2b5b001e633c66 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode92.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Hold the black and white microphone and deliver it to another side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Secure the handheld microphone from the table and transfer it.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grip the metal head microphone and pass it to the other side", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Take the metal head microphone and move it to the other hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the black and white microphone and hand it to someone else.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Seize the handheld microphone and offer it to the other arm", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Secure the compact size microphone from the table and transfer it.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Secure the metal head microphone using one arm and transfer it.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the black and white microphone and pass it across.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Hold the compact size microphone and deliver it to another side.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Seize the compact size microphone and offer it to the other arm", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Hold the compact size microphone with the left arm and give it to the right arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode93.json b/handover_mic/franka_randomized_500/instructions/episode93.json new file mode 100644 index 0000000000000000000000000000000000000000..44bd60d38bdaeddb6f8b84ba23e323f1f23e694b --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode93.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Take the microphone with dark blue padding and pass it to another hand", + "Pick up the round head microphone and move it to the opposite side", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grasp the round head microphone and switch it to another hand.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Take the microphone for recording sound and move it to another hand.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the microphone with round foam head and pass it across.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Seize the round head microphone and offer it to the other arm", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Secure the small audio microphone using one arm and transfer it.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Hold the round head microphone and deliver it to another side.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the small audio microphone, shift it, and release it to the other side.", + "Secure the round head microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode94.json b/handover_mic/franka_randomized_500/instructions/episode94.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9e606069ba96ec550ce5683aa766dd5c339fc6 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode94.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Take the rounded white tip microphone and move it to another hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Lift the teal microphone, then pass it across without delay.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the handheld teal microphone and shift it to the other arm.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grip the textured white microphone head and pass it to the other side", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Lift the textured white microphone head and pass it across.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Take the handheld teal microphone and move it to the other hand.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Grasp the white and teal sound microphone and pass it across.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Seize the compact teal and white microphone and offer it to the other arm", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Hold the teal microphone and deliver it to another side.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Take the handheld teal microphone and move it to another hand.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Take the microphone with slider switch and pass it to another hand", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Grip the teal microphone and pass it to the other side", + "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the teal microphone securely and shift it to another arm.", + "Lift the microphone with white rounded head and pass it across.", + "Lift the handheld teal microphone and hand it to someone else.", + "Take the white and teal sound microphone and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Grasp the plastic teal microphone with slider and pass it across.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Hold the teal microphone with the right arm and give it to the left arm.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Take the textured white microphone head and move it to another hand.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand." + ], + "unseen": [ + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode95.json b/handover_mic/franka_randomized_500/instructions/episode95.json new file mode 100644 index 0000000000000000000000000000000000000000..88d4f6574234225297bd27b879091788238a2f67 --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode95.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the compact size microphone and pass it to the other side", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Take the black and white microphone and pass it to another hand", + "Hold the black and white microphone securely and shift it to another arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Lift the compact size microphone and pass it across.", + "Hold the handheld microphone and shift it to the other arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use one hand to grab the microphone for voice recording and pass it.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Seize the compact size microphone and offer it to the other arm", + "Hold the white microphone handle black accents and deliver it to another side.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone for voice recording and pass it to the other hand.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Secure the handheld microphone from the table and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the handheld microphone and move it to the other hand.", + "Grip the metal head microphone and pass it to the other side", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording and pass it across.", + "Hold the compact size microphone and shift it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use one hand to grab the compact size microphone and pass it.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the black and white microphone, then pass it across without delay.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the metal head microphone and hand it to someone else.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the metal head microphone and move it to the other hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode97.json b/handover_mic/franka_randomized_500/instructions/episode97.json new file mode 100644 index 0000000000000000000000000000000000000000..bec620290e6d52266a7889990eae97f51de45a7f --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode97.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it over to the other arm.", + "Take the handheld microphone and move it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the compact size microphone and pass it across.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Take the microphone with textured metal head and move it to another hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Take the microphone for voice recording and pass it to another hand", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the compact size microphone and pass it across.", + "Grip the metal head microphone and pass it to the other side", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Pick up the compact size microphone and move it to the opposite side", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Seize the black and white microphone and offer it to the other arm", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Take the white microphone handle black accents and move it to another hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the handheld microphone and deliver it to the other side.", + "Lift the black and white microphone and hand it to the other side easily.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Take the metal head microphone and pass it to another hand", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the black and white microphone and pass it across.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Take the compact size microphone and move it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Pick up the handheld microphone and hand it to the other side.", + "Grab the black and white microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/franka_randomized_500/instructions/episode99.json b/handover_mic/franka_randomized_500/instructions/episode99.json new file mode 100644 index 0000000000000000000000000000000000000000..dcaeb6f258a4d01ea8fae17ff48b10d378b6a57e --- /dev/null +++ b/handover_mic/franka_randomized_500/instructions/episode99.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark blue microphone and hand it over to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Seize the small audio microphone and offer it to the other arm", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Take the round head microphone and move it to another hand.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Seize the small audio microphone and offer it to the other arm", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the round head microphone and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the round head microphone and hand it over to the other arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode0.json b/handover_mic/ur5_clean_50/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..23aeee6eae64f2b2a721a0860419a785723b5f19 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the small audio microphone and deliver it to another side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the small audio microphone and hand it over to the other side.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Grip the dark blue microphone and pass it to the other side", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Pick up the microphone with round foam head and transfer it to the opposite side." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode1.json b/handover_mic/ur5_clean_50/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..461a04069674e299664406087acda15c3058db8f --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Reach for the metal head microphone and move it to the other hand.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the black and white microphone and hand it to someone else.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Hold the black and white microphone and deliver it to another side.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grip the microphone for voice recording and pass it to the other side", + "Lift the white microphone handle black accents and pass it across.", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Pick up the compact size microphone and hand it to the other side.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grab the handheld microphone and give it to the opposite arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the handheld microphone and move it to the other hand.", + "Take the compact size microphone and move it to another hand.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the metal head microphone and hand it to someone else.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Secure the metal head microphone from the table and transfer it.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the black and white microphone and pass it across.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the compact size microphone and pass it across.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the microphone for voice recording and hand it over to the other side.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Take the microphone for voice recording and pass it to another hand", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode10.json b/handover_mic/ur5_clean_50/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..9eeabe3b697b13853df03df27b7ddf3900b5fa14 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Hold the handheld microphone with one hand and transfer it", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Secure the handheld microphone using one arm and transfer it.", + "Hold the compact size microphone and deliver it to another side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grasp the black and white microphone, then give it to the other arm.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Seize the handheld microphone and offer it to the other arm", + "Lift the compact size microphone and pass it across.", + "Hold the metal head microphone securely and shift it to another arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the compact size microphone and pass it across.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Pick the compact size microphone from the surface and switch hands.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the black and white microphone, then pass it across without delay.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Secure the handheld microphone from the table and transfer it.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Hold the compact size microphone with one hand and transfer it", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Hold the metal head microphone and deliver it to another side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grasp the handheld microphone, then give it to the other arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Lift the metal head microphone and pass it across.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the handheld microphone and move it to the opposite side", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick up the metal head microphone and hand it to the other side.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the handheld microphone and shift it to the other arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grab the metal head microphone and transfer it to another hand", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm." + ], + "unseen": [ + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode11.json b/handover_mic/ur5_clean_50/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..e56d67fdd6a7796b008917744cf1d05c1ed3d2f5 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone covered with foam tip and move it to another hand.", + "Take the microphone with round foam head and move it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the round head microphone, then pass it across without delay.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the dark blue microphone and pass it across.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grip the small audio microphone and pass it to the other side", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the round head microphone and hand it to someone else.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the dark blue microphone and pass it across.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Take the round head microphone and pass it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grip the microphone with round foam head and pass it to the other side", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the microphone with round foam head and move it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode12.json b/handover_mic/ur5_clean_50/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..005ce1c49fccffbe3ebbdfa7c060a5fc3bf08ba2 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and transfer it to another hand", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the round head microphone and hand it to someone else.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the dark blue microphone and pass it across.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the microphone for recording sound and transfer it to another hand", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the small audio microphone and shift it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip and pass it across.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Grab the microphone with round foam head and transfer it to another hand", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Reach for the round head microphone and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode13.json b/handover_mic/ur5_clean_50/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f89e9c3f6ca1ee7791c048a159de60574c6b7b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the dark blue microphone and offer it to the other arm", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the round head microphone and hand it over to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head and move it to another hand.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick the small audio microphone from the surface and switch hands.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Pick the round head microphone and transfer it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the microphone with round foam head and pass it across.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the dark blue microphone and pass it across.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the small audio microphone and shift it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the dark blue microphone and hand it over to the other side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Take the round head microphone and move it to another hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick the round head microphone from the surface and switch hands.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the dark blue microphone and hand it to the other side easily." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode14.json b/handover_mic/ur5_clean_50/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..9e9c68919743307aca7d7357d5e036bd606d45e0 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the small audio microphone and pass it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the small audio microphone and transfer it to another hand", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone for recording sound and transfer it to another hand", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode15.json b/handover_mic/ur5_clean_50/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..b6542759ce033a126f803e6ebcf6cf20c7ca1dd4 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Take the dark blue microphone and move it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grip the microphone with dark blue padding and pass it to the other side", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Seize the round head microphone and offer it to the other arm", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grip the gray and dark blue microphone and pass it to the other side", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the dark blue microphone and pass it across.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the dark blue microphone and deliver it to another side.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone with dark blue padding and pass it to the other hand." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode16.json b/handover_mic/ur5_clean_50/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..8de7325c6b8f43e95859505a87e8b96835046232 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the small audio microphone and deliver it to another side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick the small audio microphone from the surface and switch hands.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the round head microphone and deliver it to another side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the round head microphone and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the microphone with round foam head and move it to the other hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the microphone with round foam head and pass it across." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode17.json b/handover_mic/ur5_clean_50/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cbdda2800cb1dd8a1050b74fc38f1314d279c3 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the round head microphone and shift it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Secure the dark blue microphone from the table and transfer it.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the round head microphone and hand it over to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Secure the round head microphone using one arm and transfer it.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Take the small audio microphone and move it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the round head microphone and pass it across.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the small audio microphone and deliver it to another side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the round head microphone and hand it to someone else.", + "Hold the round head microphone and shift it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Seize the microphone for recording sound and offer it to the other arm", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Lift the round head microphone and pass it across.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the small audio microphone securely and shift it to another arm.", + "Grasp the round head microphone and pass it across.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode18.json b/handover_mic/ur5_clean_50/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..5877ad11a887375459744ff69a48bcf24127f5b4 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone with round foam head and pass it across.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the small audio microphone and give it to the opposite arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the round head microphone with one hand and transfer it", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone for recording sound and pass it across.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the dark blue microphone and move it to another hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Secure the round head microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Take the small audio microphone and move it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grasp the gray stem microphone with foam top and pass it across.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the round head microphone securely and shift it to another arm." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode19.json b/handover_mic/ur5_clean_50/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..73a4dac9ccd29cc9c96a5a4e3f30b5e64572cf35 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the gray and dark blue microphone and pass it to another hand", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the dark blue microphone and move it to the other hand.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick the round head microphone from the surface and switch hands.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the dark blue microphone and pass it to another hand", + "Use one hand to grab the round head microphone and pass it.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the dark blue microphone and move it to the other hand.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone for recording sound and pass it across.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode2.json b/handover_mic/ur5_clean_50/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..82f61d056b0ae0447f508278ed6f7340c064e71b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Hold the microphone for recording sound and pass it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the round head microphone and move it to the other hand.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the round head microphone and deliver it to the other side.", + "Take the microphone with round foam head and move it to another hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the round head microphone and switch it to another hand.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone for recording sound and pass it across." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode20.json b/handover_mic/ur5_clean_50/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..d64bd232792e6e12f34a6a03db033a68506e4bc1 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for recording sound and move it to the other hand.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Hold the round head microphone with one hand and transfer it", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the small audio microphone and hand it over to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick up the small audio microphone and hand it to the other side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and pass it across.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grasp the round head microphone and pass it across.", + "Lift the round head microphone and hand it to the other side easily.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Secure the microphone with round foam head using one arm and transfer it." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode21.json b/handover_mic/ur5_clean_50/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..027ebe42a417004f183709637f2eacca5a1eb65b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head and move it to another hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the audio microphone with soft covering and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the round head microphone and hand it to someone else.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grip the microphone with round foam head and pass it to the other side", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and pass it across.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the round head microphone and hand it to someone else.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the small audio microphone and pass it to another hand", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use one hand to grab the dark blue microphone and pass it.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grip the microphone for recording sound and pass it to the other side", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the small audio microphone and pass it across.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone with smooth gray stem with one hand and transfer it" + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode22.json b/handover_mic/ur5_clean_50/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..25bcd754220b6c2314556bbffad444d8407dde2b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the small audio microphone and pass it across.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the small audio microphone and hand it to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone for recording sound and move it to another hand.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick the small audio microphone and transfer it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Seize the round head microphone and offer it to the other arm", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grip the round head microphone and pass it to the other side" + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode23.json b/handover_mic/ur5_clean_50/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..14e2c2bc89ddb3485d8f048fc71a2606480a94dc --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering and move it to another hand.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the round head microphone with one hand and transfer it", + "Lift the dark blue microphone and pass it across.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone for recording sound and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side", + "Seize the small audio microphone and offer it to the other arm", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the round head microphone and hand it to someone else.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Take the dark blue microphone and pass it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Seize the microphone with round foam head and offer it to the other arm", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode24.json b/handover_mic/ur5_clean_50/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..1215fd1013ce6b664325943661c1e08d1abb172c --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Pick the round head microphone from the surface and switch hands.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the small audio microphone and pass it across.", + "Hold the round head microphone with one hand and transfer it", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the small audio microphone and move it to another hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and pass it across.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grasp the small audio microphone and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Seize the round head microphone and offer it to the other arm", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the round head microphone and pass it across.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grip the microphone for recording sound and pass it to the other side", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode25.json b/handover_mic/ur5_clean_50/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..121ea25bb9ed0192d417f74762c279d7fffdac9b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark blue microphone from the surface and switch hands.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the dark blue microphone and deliver it to another side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick the small audio microphone from the surface and switch hands.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the dark blue microphone and pass it to another hand", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the microphone with round foam head and deliver it to another side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the dark blue microphone and switch it to another hand.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Secure the round head microphone using one arm and transfer it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the round head microphone and deliver it to the other side.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Lift the microphone covered with foam tip and pass it across." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode26.json b/handover_mic/ur5_clean_50/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..f6537ba129e27fae50eb3fe8682f8ad350e7ab2b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the audio microphone with soft covering and pass it across.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the small audio microphone and move it to another hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Take the dark blue microphone and pass it to another hand", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Secure the small audio microphone from the table and transfer it.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the microphone for recording sound and transfer it to another hand", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the microphone for recording sound and move it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the round head microphone and deliver it to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Secure the small audio microphone from the table and transfer it.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode27.json b/handover_mic/ur5_clean_50/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..f9773511c07ecaeb8e2dd0258abc916d86ce54b6 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the microphone with round foam head and transfer it to another hand", + "Lift the audio microphone with soft covering and pass it across.", + "Grip the round head microphone and pass it to the other side", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grab the round head microphone and give it to the opposite arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the microphone with round foam head and transfer it to another hand", + "Lift the audio microphone with soft covering and pass it across.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the medium microphone with two-tone color and pass it across.", + "Grip the microphone for recording sound and pass it to the other side", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side" + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode28.json b/handover_mic/ur5_clean_50/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..37a38f55208ad8ffc6316e78743bd4f07d52fbb2 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the round head microphone and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the round head microphone and pass it to another hand", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the round head microphone and pass it across.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the audio microphone with soft covering and pass it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the round head microphone and hand it to someone else.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone with round foam head and move it to the opposite side" + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode29.json b/handover_mic/ur5_clean_50/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..cc9305b6fcc1b52b8abace5ae0f6744f7e8a2f4e --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the microphone covered with foam tip and pass it to the other side", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the round head microphone and hand it over to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Take the dark blue microphone and move it to another hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grasp the round head microphone and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Reach for the round head microphone and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the small audio microphone and pass it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with dark blue padding and pass it across.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grip the small audio microphone and pass it to the other side", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the gray and dark blue microphone and hand it over to the other side." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode3.json b/handover_mic/ur5_clean_50/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc7f3b6155107f4567be294e9511b679b846c67 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the small audio microphone and pass it across.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the round head microphone and deliver it to another side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grab the microphone for recording sound and transfer it to another hand", + "Grasp the medium microphone with two-tone color and pass it across.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the dark blue microphone and deliver it to another side.", + "Grip the round head microphone and pass it to the other side", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the audio microphone with soft covering and pass it across.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Pick the microphone with dark blue padding from the surface and switch hands." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode30.json b/handover_mic/ur5_clean_50/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..57ff58a99e1d7e47a9cef98dcea19dcfbfef25a3 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the dark blue microphone and deliver it to another side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Seize the dark blue microphone and offer it to the other arm", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick up the round head microphone and move it to the opposite side", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the microphone covered with foam tip and pass it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the small audio microphone and move it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the gray and dark blue microphone and pass it across.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the round head microphone and pass it to another hand", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Reach for the microphone with round foam head and move it to the other hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the small audio microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode31.json b/handover_mic/ur5_clean_50/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..0e1d9a99133ddad9b96b84700133279c34146284 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and hand it to the other side easily.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the round head microphone and pass it to the other hand.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the microphone for recording sound, pass it, and release it to complete the task." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode32.json b/handover_mic/ur5_clean_50/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..ee00f2d9976e0ccd68268322701bb1ce201e307d --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the compact size microphone and move it to the other hand.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the black and white microphone with one hand and transfer it", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Take the compact size microphone and pass it to another hand", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the handheld microphone securely and shift it to another arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Secure the microphone for voice recording from the table and transfer it.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the black and white microphone with one hand and transfer it", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the compact size microphone and deliver it to another side.", + "Take the metal head microphone and move it to another hand.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the handheld microphone and pass it across.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Lift the handheld microphone, then pass it across without delay.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the black and white microphone and pass it across." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode33.json b/handover_mic/ur5_clean_50/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..03840721b2fc7902fc1bb35653ff5d628b1f5f44 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the small audio microphone and hand it over to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the round head microphone and deliver it to another side.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the dark blue microphone and pass it across.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the small audio microphone and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the microphone for recording sound and pass it to another hand", + "Grip the microphone covered with foam tip and pass it to the other side", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the microphone with round foam head and deliver it to another side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the dark blue microphone and transfer it to another hand", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grip the microphone for recording sound and pass it to the other side", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick up the round head microphone and move it to the opposite side" + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode34.json b/handover_mic/ur5_clean_50/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..21069571d7ba1cf04c4143102c07eeaa8fecc13d --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the small audio microphone and pass it to another hand", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone for recording sound and move it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Lift the round head microphone, then pass it across without delay.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the round head microphone and pass it across.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the round head microphone securely and shift it to another arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode35.json b/handover_mic/ur5_clean_50/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..6aaf10986d6c3b4777657a90d50e5d1be9ec592e --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the small audio microphone and deliver it to another side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Seize the dark blue microphone and offer it to the other arm", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the microphone for recording sound and pass it across.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the dark blue microphone and move it to another hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the round head microphone and hand it to the other side easily.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Lift the small audio microphone and pass it across.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the small audio microphone from the table and transfer it.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the small audio microphone with one hand and transfer it", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use the left arm to grab the small audio microphone and transfer it to the right arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode36.json b/handover_mic/ur5_clean_50/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..a62bf9764c562c5331d6a615a89be8a4f521381e --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small audio microphone and give it to the opposite arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Take the microphone with round foam head and move it to another hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the round head microphone and pass it across.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one arm to pick up the round head microphone and give it to the other.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Take the dark blue microphone and move it to the other hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the audio microphone with soft covering and move it to another hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and deliver it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the round head microphone and hand it over to the other side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode37.json b/handover_mic/ur5_clean_50/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..83f12df048a53185cd606f798f3d35520a6de7ac --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grip the metal head microphone and pass it to the other side", + "Lift the compact size microphone and pass it across.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the compact size microphone and deliver it to another side.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the metal head microphone and deliver it to the other side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the compact size microphone and pass it to another hand", + "Grab the compact size microphone and transfer it to another hand", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the compact size microphone and hand it to someone else.", + "Grab the black and white microphone and give it to the opposite arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grasp the microphone with textured metal head and pass it across.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the metal head microphone, then pass it across without delay.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grip the compact size microphone and pass it to the other side", + "Lift the white microphone handle black accents and pass it across.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the microphone with textured metal head and deliver it to another side.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the compact size microphone and move it to another hand.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grasp the metal head microphone and switch it to another hand.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the compact size microphone and hand it to someone else.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grasp the microphone with black tip and white body and pass it across.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the metal head microphone and shift it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the mesh-patterned microphone head and pass it across.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Secure the metal head microphone using one arm and transfer it.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side" + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode38.json b/handover_mic/ur5_clean_50/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..690257b5fb00feae6c7a81a8e33dd634784eddc7 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the microphone for recording sound and pass it to another hand", + "Grab the dark blue microphone and transfer it to another hand", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the microphone with dark blue padding and pass it across.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the microphone for recording sound and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the dark blue microphone and pass it to another hand", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grasp the microphone with round foam head and pass it across.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode39.json b/handover_mic/ur5_clean_50/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..6fe9e3365660a5ac5ff86e014c0eb4d76aedbbd4 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the audio microphone with soft covering and pass it to another hand", + "Use one hand to grab the dark blue microphone and pass it.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and deliver it to the other side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the small audio microphone and transfer it to another hand", + "Secure the round head microphone from the table and transfer it.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and deliver it to the other side.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grip the round head microphone and pass it to the other side", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the microphone with round foam head and move it to another hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the audio microphone with soft covering and pass it to another hand", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode4.json b/handover_mic/ur5_clean_50/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..0f4d2a47d8e04cb33d869f8be7991670c3faf7dc --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with round foam head using one arm and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the microphone with round foam head and pass it across.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grasp the dark blue microphone and pass it across.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the gray and dark blue microphone and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode40.json b/handover_mic/ur5_clean_50/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..1946a09fef050c8cc5db460d45716279ae39c49e --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the round head microphone and pass it across.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the microphone for recording sound and move it to another hand.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the round head microphone and transfer it to another hand", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grip the dark blue microphone and pass it to the other side", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the dark blue microphone and pass it across.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the dark blue microphone and pass it to another hand", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Seize the small audio microphone and offer it to the other arm", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode41.json b/handover_mic/ur5_clean_50/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2b2c6e7a30b41a4c8bf14f59aa7795ee238fba --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the small audio microphone and deliver it to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the dark blue microphone and move it to another hand.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the round head microphone and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the round head microphone and hand it over to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the round head microphone securely and shift it to another arm.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grasp the dark blue microphone and pass it across.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the gray and dark blue microphone and switch it to another hand." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode42.json b/handover_mic/ur5_clean_50/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ea03b8d876194ae7580dcf11ad8fee0363593b --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Hold the dark blue microphone and pass it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grip the microphone with round foam head and pass it to the other side", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Grab the round head microphone and give it to the opposite arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the small audio microphone and pass it across.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the dark blue microphone and move it to another hand.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the microphone with round foam head and pass it to another hand", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the round head microphone and move it to another hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the round head microphone with one hand and transfer it", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one hand to grab the round head microphone and pass it." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode43.json b/handover_mic/ur5_clean_50/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a60144a08e289480032d2b7f630e2a53d021a5 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with round foam head and hand it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grip the microphone with round foam head and pass it to the other side", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone with round foam head with one hand and transfer it", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the small audio microphone and pass it to another hand", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the dark blue microphone and hand it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grip the dark blue microphone and pass it to the other side", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the dark blue microphone and move it to the other hand.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Secure the small audio microphone using one arm and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode44.json b/handover_mic/ur5_clean_50/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..b83b69d7180d5a7c385ac299df7132d56b7c0035 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the round head microphone and move it to the other hand.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the small audio microphone and hand it over to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the round head microphone with one hand and transfer it", + "Hold the small audio microphone and pass it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Secure the microphone for recording sound from the table and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the dark blue microphone and deliver it to the other side.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the round head microphone and move it to the other hand.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the round head microphone and hand it to someone else.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the gray and dark blue microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode45.json b/handover_mic/ur5_clean_50/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..93e5df409bf068f96884e06c1b5a8bd51f9fbcc5 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone for voice recording and hand it to the other side.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Seize the black and white microphone and offer it to the other arm", + "Hold the microphone with textured metal head and deliver it to another side.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grab the white microphone handle black accents and transfer it to another hand", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Take the black and white microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Take the compact size microphone and pass it to another hand", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grasp the black and white microphone, then give it to the other arm.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Pick the compact size microphone from the surface and switch hands.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Grip the metal head microphone and pass it to the other side", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the handheld microphone and deliver it to another side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Hold the black and white microphone and pass it to the other hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the black and white microphone, then give it to the other arm.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Grasp the handheld microphone and switch it to another hand.", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Use one hand to grab the handheld microphone and pass it.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with black tip and white body and pass it across.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Seize the handheld microphone and offer it to the other arm", + "Hold the metal head microphone and deliver it to another side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grasp the handheld microphone and pass it across.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grab the microphone for voice recording and transfer it to another hand", + "Lift the white microphone handle black accents and hand it to the other side easily." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode46.json b/handover_mic/ur5_clean_50/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..a604d3333c9ec5513c2c84897f1c5446afb9015c --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grasp the small audio microphone and pass it across.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the gray and dark blue microphone and move it to another hand.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the gray and dark blue microphone and pass it across.", + "Grip the round head microphone and pass it to the other side", + "Grasp the small audio microphone, then give it to the other arm.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the small audio microphone and move it to the other hand.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Grab the round head microphone and transfer it to another hand", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the small audio microphone and pass it to another hand", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the dark blue microphone and pass it across.", + "Grip the round head microphone and pass it to the other side", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the microphone with round foam head and move it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode47.json b/handover_mic/ur5_clean_50/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..feabda9adbc9385bababc543ca9d8d5c539a907d --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Take the small audio microphone and move it to another hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the round head microphone and pass it to another hand", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Secure the microphone for recording sound from the table and transfer it.", + "Grip the round head microphone and pass it to the other side", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the dark blue microphone and pass it to another hand", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the round head microphone and pass it across.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the round head microphone and deliver it to the other side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick up the audio microphone with soft covering and hand it to the other side." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode48.json b/handover_mic/ur5_clean_50/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..9dad26122e27776b3f1f5b8293b42d3f2f6a43cc --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick up the compact size microphone and hand it to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Secure the metal head microphone using one arm and transfer it.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the microphone for voice recording and pass it across.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the white microphone handle black accents and hand it to someone else.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Take the metal head microphone and pass it to another hand", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grab the compact size microphone and give it to the opposite arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the black and white microphone and deliver it to another side.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Reach for the black and white microphone and move it to the other hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the microphone for voice recording and pass it across.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the compact size microphone with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Take the black and white microphone and move it to the other hand.", + "Take the compact size microphone and pass it to another hand", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Use one hand to grab the metal head microphone and pass it.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Secure the handheld microphone from the table and transfer it.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode49.json b/handover_mic/ur5_clean_50/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..202e143459c13cd71a48b519656ee085dcaf329d --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Reach for the small audio microphone and move it to the other hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Secure the dark blue microphone using one arm and transfer it.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the round head microphone and pass it across.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the round head microphone and shift it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Reach for the round head microphone and move it to the other hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Secure the round head microphone using one arm and transfer it.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode5.json b/handover_mic/ur5_clean_50/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad55e7fa28a1450b8018db0918d07a5a976df34 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the microphone with round foam head and deliver it to another side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone with round foam head and hand it to someone else.", + "Secure the round head microphone from the table and transfer it.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Grip the small audio microphone and pass it to the other side", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Lift the microphone for recording sound and pass it across.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use one hand to grab the round head microphone and pass it.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Hold the round head microphone with one hand and transfer it", + "Lift the round head microphone and hand it to someone else.", + "Secure the small audio microphone from the table and transfer it.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Grip the dark blue microphone and pass it to the other side", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick the round head microphone from the surface and switch hands.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use one hand to grab the round head microphone and pass it.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the round head microphone and pass it to another hand", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode6.json b/handover_mic/ur5_clean_50/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..fea7e62e3d26849fc65032fdb8ece7f754b46cfd --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round head microphone and hand it to someone else.", + "Grasp the dark blue microphone and pass it across.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the round head microphone and pass it across.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grab the round head microphone and transfer it to another hand", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the small audio microphone and move it to the other hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the dark blue microphone and shift it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the round head microphone and pass it across.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the round head microphone and shift it to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Reach for the round head microphone and move it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick the small audio microphone from the surface and switch hands.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the round head microphone and hand it to someone else.", + "Grasp the dark blue microphone and pass it across.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the round head microphone with one hand and transfer it" + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode7.json b/handover_mic/ur5_clean_50/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..fffedeff74c5bdcca6ecf98d2f41681213140a53 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Reach for the round head microphone and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the small audio microphone and deliver it to the other side.", + "Grab the round head microphone and give it to the opposite arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the microphone covered with foam tip and move it to another hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Reach for the small audio microphone and move it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the round head microphone and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode8.json b/handover_mic/ur5_clean_50/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..5198f695b99010c97cdb3ca1c52b4b85254ff025 --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the dark blue microphone and pass it across.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the round head microphone and deliver it to the other side.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the microphone for recording sound and hand it over to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_clean_50/instructions/episode9.json b/handover_mic/ur5_clean_50/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..77218a6ede88fcfd78ca97ebb7ebafe496b2d4ff --- /dev/null +++ b/handover_mic/ur5_clean_50/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the dark blue microphone and offer it to the other arm", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the small audio microphone and move it to the other hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Seize the round head microphone and offer it to the other arm", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Secure the round head microphone using one arm and transfer it.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound and deliver it to another side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the microphone covered with foam tip and pass it to another hand" + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode100.json b/handover_mic/ur5_randomized_500/instructions/episode100.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3f8c116bfd47cf70db6366400a607e0fe51106 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode100.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Use one hand to grab the round head microphone and pass it.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the small audio microphone and pass it across.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the dark blue microphone and hand it to the other side.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grasp the round head microphone and pass it across.", + "Take the round head microphone and pass it to another hand", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the round head microphone, then give it to the other arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the round head microphone and deliver it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the gray and dark blue microphone and hand it to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode103.json b/handover_mic/ur5_randomized_500/instructions/episode103.json new file mode 100644 index 0000000000000000000000000000000000000000..e3eefa54e9ec49f368d7bd602be259805a578430 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode103.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for recording sound and pass it to another hand", + "Hold the small audio microphone with one hand and transfer it", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone for recording sound and hand it over to the other side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the dark blue microphone and pass it across.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the small audio microphone and hand it to someone else.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Pick the round head microphone from the surface and switch hands.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the small audio microphone and pass it to another hand", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the small audio microphone and deliver it to another side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the small audio microphone and switch it to another hand.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Seize the microphone for recording sound and offer it to the other arm" + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode104.json b/handover_mic/ur5_randomized_500/instructions/episode104.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca5a1ae6a65a0e062452d946841868fbcee219d --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode104.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the dark blue microphone with one hand and transfer it", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone for recording sound and pass it across.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Reach for the small audio microphone and move it to the other hand.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Secure the round head microphone from the table and transfer it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the round head microphone and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the microphone for recording sound and hand it to the other side easily." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode105.json b/handover_mic/ur5_randomized_500/instructions/episode105.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1591198b765137f1b2ae655e4a853244b721e9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode105.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Hold the microphone with textured metal head and deliver it to another side.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Take the compact size microphone and move it to the other hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Grab the black and white microphone and transfer it to another hand", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Secure the compact size microphone from the table and transfer it.", + "Seize the black and white microphone and offer it to the other arm", + "Take the black and white microphone and pass it to another hand", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the black and white microphone and pass it across.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the metal head microphone and hand it to someone else.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Take the black and white microphone and move it to another hand.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the compact size microphone and deliver it to another side.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Take the white microphone handle black accents and pass it to another hand", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the black and white microphone securely and shift it to another arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick up the microphone for voice recording and move it to the opposite side" + ], + "unseen": [ + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode106.json b/handover_mic/ur5_randomized_500/instructions/episode106.json new file mode 100644 index 0000000000000000000000000000000000000000..0f6db4922523a8e54bcca3677f3d7b60d3ff5bec --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode106.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the round head microphone and switch it to another hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone for recording sound using the left arm and transfer it to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the dark blue microphone and pass it across.", + "Seize the round head microphone and offer it to the other arm", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the dark blue microphone and switch it to another hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the microphone for recording sound and move it to the other hand.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with dark blue padding firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode107.json b/handover_mic/ur5_randomized_500/instructions/episode107.json new file mode 100644 index 0000000000000000000000000000000000000000..46860a1949056817411c6b12b57c18037e656df4 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode107.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the handheld microphone and pass it across.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Pick up the metal head microphone and hand it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the handheld microphone and move it to another hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Take the handheld microphone and pass it to another hand", + "Pick the handheld microphone and transfer it to the other arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the metal head microphone and deliver it to the other side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Hold the metal head microphone with one hand and transfer it", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Grasp the black and white microphone and pass it across.", + "Lift the compact size microphone and hand it to someone else.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grab the metal head microphone and transfer it to another hand", + "Seize the microphone with textured metal head and offer it to the other arm", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the metal head microphone, then pass it across without delay.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Take the white microphone handle black accents and move it to another hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Take the handheld microphone and pass it to another hand", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone for voice recording and hand it to someone else.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the metal head microphone from the table and transfer it." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode113.json b/handover_mic/ur5_randomized_500/instructions/episode113.json new file mode 100644 index 0000000000000000000000000000000000000000..6a4eb087d53f6ec10dd4e3a26c3d6b0b2febe90b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode113.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head and pass it to another hand", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone with round foam head and pass it across.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the small audio microphone and give it to the opposite arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the round head microphone and hand it over to the other arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the small audio microphone and pass it to another hand", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the dark blue microphone and move it to another hand.", + "Lift the small audio microphone and deliver it to the other side.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Grasp the microphone with round foam head and pass it across.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the round head microphone and move it to the opposite side", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grasp the small audio microphone and switch it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Lift the small audio microphone and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the round head microphone and shift it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and pass it to another hand", + "Seize the small audio microphone and offer it to the other arm", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode116.json b/handover_mic/ur5_randomized_500/instructions/episode116.json new file mode 100644 index 0000000000000000000000000000000000000000..5b575408a9c0cf68e27d5079465cdc29243a6486 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode116.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grasp the round head microphone and switch it to another hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the round head microphone and move it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the round head microphone and pass it to another hand", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the dark blue microphone and move it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Secure the gray and dark blue microphone from the table and transfer it." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode117.json b/handover_mic/ur5_randomized_500/instructions/episode117.json new file mode 100644 index 0000000000000000000000000000000000000000..5b630d0afc88487ce2b621fb50c119fb11e6cd4f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode117.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the small audio microphone and pass it across.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the small audio microphone from the table and transfer it.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grasp the microphone for recording sound and pass it across.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the round head microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Lift the round head microphone and pass it across.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the small audio microphone and deliver it to another side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it over to the other arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode119.json b/handover_mic/ur5_randomized_500/instructions/episode119.json new file mode 100644 index 0000000000000000000000000000000000000000..bdbc5efda11b69c905f6b8eca924f1506654db1f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode119.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the microphone for recording sound from the table and transfer it.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Use one hand to grab the small audio microphone and pass it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the round head microphone and switch it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grip the round head microphone and pass it to the other side", + "Hold the small audio microphone and shift it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the microphone for recording sound and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Hold the round head microphone and pass it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the small audio microphone and pass it to another hand" + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode12.json b/handover_mic/ur5_randomized_500/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..9d2f32b42f3f4006d3da008db5e6ecb3e3678298 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with rounded mesh head and pass it to another hand", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the black and white microphone and pass it across.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone and hand it over to the other arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the metal head microphone and hand it over to the other side.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Pick the compact size microphone from the surface and switch hands.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grip the black and white microphone and pass it to the other side", + "Take the smooth plastic microphone handle and pass it to another hand", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the compact size microphone, then give it to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the metal head microphone and deliver it to another side.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Lift the black and white microphone and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the compact size microphone and pass it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the smooth plastic microphone handle and pass it to another hand", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grasp the compact size microphone, then give it to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the metal head microphone and pass it across." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode120.json b/handover_mic/ur5_randomized_500/instructions/episode120.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7b1c293ca07691f80724a71b40ef12aab55818 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode120.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the small audio microphone and move it to another hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the round head microphone and shift it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the small audio microphone and deliver it to another side.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grip the dark blue microphone and pass it to the other side", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the round head microphone and move it to another hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side" + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode121.json b/handover_mic/ur5_randomized_500/instructions/episode121.json new file mode 100644 index 0000000000000000000000000000000000000000..4411b9bc853d9f1a1d266cd7be6594ad3d951f89 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode121.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Take the round head microphone and move it to the other hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the round head microphone, then pass it across without delay.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the round head microphone and move it to the other hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Grasp the gray and dark blue microphone and pass it across.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the microphone with round foam head and move it to another hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the round head microphone and pass it to the other hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode122.json b/handover_mic/ur5_randomized_500/instructions/episode122.json new file mode 100644 index 0000000000000000000000000000000000000000..68fffbca05dcdb4086d2bf02728824eccb7fb1f1 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode122.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the round head microphone and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the dark blue microphone and transfer it to another hand", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the round head microphone and move it to another hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Hold the round head microphone and shift it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the microphone with smooth gray stem using the left arm and pass it over to the right arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the round head microphone and hand it over to the other side.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the microphone with round foam head and pass it across.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the microphone for recording sound and move it to another hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the dark blue microphone and deliver it to the other side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the microphone with smooth gray stem and pass it across." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode123.json b/handover_mic/ur5_randomized_500/instructions/episode123.json new file mode 100644 index 0000000000000000000000000000000000000000..52b35894ed2ea133f0eb0a53e6b252d99e1c1814 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode123.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the round head microphone and pass it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Lift the microphone for recording sound and pass it across.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the round head microphone and hand it over to the other side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Take the small audio microphone and move it to another hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the microphone for recording sound and move it to the other hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Lift the microphone for recording sound and pass it across.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the audio microphone with soft covering and move it to another hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode127.json b/handover_mic/ur5_randomized_500/instructions/episode127.json new file mode 100644 index 0000000000000000000000000000000000000000..d09ce79de6d1566edc09bfbe548485d6bbca6e75 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode127.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Seize the compact size microphone and offer it to the other arm", + "Lift the metal head microphone and hand it to someone else.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the white microphone handle black accents and move it to another hand.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the black and white microphone and pass it to another hand", + "Hold the white microphone handle black accents with one hand and transfer it", + "Secure the compact size microphone from the table and transfer it.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Reach for the handheld microphone and move it to the other hand.", + "Lift the handheld microphone and pass it across.", + "Lift the black and white microphone and deliver it to the other side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grip the compact size microphone and pass it to the other side", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the black and white microphone and hand it over to the other side.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the black and white microphone and hand it to someone else.", + "Grasp the microphone with black tip and white body and pass it across.", + "Take the microphone with textured metal head and move it to another hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the white microphone handle black accents with one hand and transfer it", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the compact size microphone and pass it across.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the compact size microphone and hand it over to the other side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the metal head microphone and pass it across.", + "Take the microphone with rounded mesh head and move it to another hand." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode13.json b/handover_mic/ur5_randomized_500/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..b4dd759616dd24550a455050daebb9a45cbba1ce --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the round head microphone and hand it over to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Lift the round head microphone and deliver it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the round head microphone, then pass it across without delay.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Take the round head microphone and move it to another hand.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode130.json b/handover_mic/ur5_randomized_500/instructions/episode130.json new file mode 100644 index 0000000000000000000000000000000000000000..f5de5493be912ef0f733acea12a398ad07199aff --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode130.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the small audio microphone and pass it across.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the small audio microphone from the table and transfer it.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the dark blue microphone and move it to the other hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to another hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the microphone with round foam head and pass it across.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Secure the round head microphone using one arm and transfer it.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode132.json b/handover_mic/ur5_randomized_500/instructions/episode132.json new file mode 100644 index 0000000000000000000000000000000000000000..6728240d4ae7dc7604646ea1894aa6300c01f85f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode132.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for voice recording and deliver it to the other side.", + "Hold the handheld microphone with one hand and transfer it", + "Take the white microphone handle black accents and pass it to another hand", + "Take the microphone with black tip and white body and move it to another hand.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Grasp the black and white microphone and pass it across.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grab the compact size microphone and give it to the opposite arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Pick up the handheld microphone and hand it to the other side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grab the handheld microphone and transfer it to another hand", + "Take the black and white microphone and move it to the other hand.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the microphone for voice recording and pass it across.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the handheld microphone and hand it to someone else.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with cylindrical handle and pass it to another hand", + "Take the microphone with textured metal head and move it to another hand.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Reach for the metal head microphone and move it to the other hand.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the microphone for voice recording and transfer it to another hand", + "Take the white microphone handle black accents and move it to the other hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Lift the microphone with black tip and white body and pass it across.", + "Hold the handheld microphone and shift it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Lift the handheld microphone and hand it over to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the metal head microphone and pass it to another hand", + "Take the metal head microphone and move it to another hand.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Hold the compact size microphone and deliver it to another side.", + "Grasp the compact size microphone and pass it across.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the microphone for voice recording firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode14.json b/handover_mic/ur5_randomized_500/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..fd62d73ef2e0648fea01c367d13f160d4f62ca2b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone for recording sound and offer it to the other arm", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the small audio microphone with one hand and transfer it", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the small audio microphone from the table and transfer it.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the small audio microphone and shift it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Reach for the round head microphone and move it to the other hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the small audio microphone and pass it across.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the round head microphone and shift it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone with round foam head and pass it to another hand" + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode142.json b/handover_mic/ur5_randomized_500/instructions/episode142.json new file mode 100644 index 0000000000000000000000000000000000000000..d0937d46e6d460e145919e40a9f99da9c9276a5f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode142.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the handheld microphone and shift it to the other arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Lift the handheld microphone and pass it across.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Seize the microphone for voice recording and offer it to the other arm", + "Secure the compact size microphone from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Pick up the compact size microphone and hand it to the other side.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Pick the black and white microphone from the surface and switch hands.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Hold the black and white microphone and shift it to the other arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Hold the metal head microphone and deliver it to another side.", + "Take the microphone with textured metal head and move it to another hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the compact size microphone and pass it across.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Seize the microphone for voice recording and offer it to the other arm", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grab the metal head microphone and transfer it to another hand", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Lift the handheld microphone and hand it to someone else.", + "Take the handheld microphone and move it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Lift the handheld microphone and pass it across." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode143.json b/handover_mic/ur5_randomized_500/instructions/episode143.json new file mode 100644 index 0000000000000000000000000000000000000000..85336a10415e990293f617c6d740ecad0a8124b5 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode143.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grip the small audio microphone and pass it to the other side", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Take the microphone with round foam head and pass it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the round head microphone and shift it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the small audio microphone and move it to the other hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Reach for the dark blue microphone and move it to the other hand.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the microphone covered with foam tip and pass it across.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the small audio microphone and pass it across.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode145.json b/handover_mic/ur5_randomized_500/instructions/episode145.json new file mode 100644 index 0000000000000000000000000000000000000000..e958c18b604ffd7e9506e5cb06217a0ed9bdf162 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode145.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the microphone with textured metal head and pass it to another hand", + "Grasp the microphone with rounded mesh head and pass it across.", + "Reach for the compact size microphone and move it to the other hand.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the microphone for voice recording and pass it across.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Secure the metal head microphone from the table and transfer it.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Hold the handheld microphone and shift it to the other arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Take the handheld microphone and move it to the other hand.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grip the handheld microphone and pass it to the other side", + "Take the handheld microphone and pass it to another hand", + "Grasp the compact size microphone and pass it across.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grab the compact size microphone and transfer it to another hand", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the metal head microphone securely and shift it to another arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the microphone for voice recording and pass it across.", + "Seize the metal head microphone and offer it to the other arm", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the metal head microphone and switch it to another hand.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Take the microphone with textured metal head and move it to another hand." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode151.json b/handover_mic/ur5_randomized_500/instructions/episode151.json new file mode 100644 index 0000000000000000000000000000000000000000..93396ab001b69bedb25e09cfb0ac15267beeae38 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode151.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Grasp the small audio microphone and pass it across.", + "Pick up the round head microphone and move it to the opposite side", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone for recording sound and deliver it to another side.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Hold the small audio microphone with one hand and transfer it", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the microphone for recording sound and transfer it to another hand", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the round head microphone and deliver it to another side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the microphone for recording sound and move it to another hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the small audio microphone and deliver it to the other side.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Pick up the dark blue microphone and move it to the opposite side" + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode156.json b/handover_mic/ur5_randomized_500/instructions/episode156.json new file mode 100644 index 0000000000000000000000000000000000000000..ae9d73bdac51796405c30770b70d9ad694caafea --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode156.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone with dark blue padding and move it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the round head microphone and pass it across.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and pass it to another hand", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grab the round head microphone and transfer it to another hand", + "Reach for the round head microphone and move it to the other hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use one hand to grab the dark blue microphone and pass it.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the small audio microphone and pass it across.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Take the dark blue microphone and pass it to another hand", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the round head microphone and move it to the opposite side", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the small audio microphone and hand it to someone else.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the round head microphone using one arm and transfer it." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode159.json b/handover_mic/ur5_randomized_500/instructions/episode159.json new file mode 100644 index 0000000000000000000000000000000000000000..856f7276d1edfbaf8ceeb0f4da78c35bfc7c678a --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode159.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the audio microphone with soft covering and pass it to another hand", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the round head microphone and deliver it to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the microphone for recording sound and pass it to another hand", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the dark blue microphone and pass it across.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the small audio microphone and shift it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the dark blue microphone and hand it to someone else.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Take the round head microphone and move it to another hand.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grasp the small audio microphone and switch it to another hand.", + "Seize the microphone with round foam head and offer it to the other arm", + "Take the round head microphone and pass it to another hand", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode160.json b/handover_mic/ur5_randomized_500/instructions/episode160.json new file mode 100644 index 0000000000000000000000000000000000000000..cca140a0bd5947aaf8b1575be208a6dd57ca7362 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode160.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray and dark blue microphone and pass it across.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the small audio microphone, then give it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Reach for the round head microphone and move it to the other hand.", + "Take the dark blue microphone and move it to another hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the small audio microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the dark blue microphone and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the round head microphone and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Pick up the dark blue microphone and hand it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Lift the microphone for recording sound and pass it across.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the round head microphone, then give it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grab the microphone with dark blue padding and transfer it to another hand" + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode178.json b/handover_mic/ur5_randomized_500/instructions/episode178.json new file mode 100644 index 0000000000000000000000000000000000000000..58f9f5fca371a591de759d8cc8d3e8f0c1644549 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode178.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the round head microphone and hand it to someone else.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Secure the round head microphone from the table and transfer it.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Grip the round head microphone and pass it to the other side", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Secure the small audio microphone from the table and transfer it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode183.json b/handover_mic/ur5_randomized_500/instructions/episode183.json new file mode 100644 index 0000000000000000000000000000000000000000..86376680f294fd9de010a9571e505b8f168c3347 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode183.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with round foam head and deliver it to another side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the round head microphone and pass it across.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the microphone with round foam head and move it to another hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the gray and dark blue microphone and pass it to another hand", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Hold the round head microphone with one hand and transfer it", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick the small audio microphone from the surface and switch hands.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the round head microphone and pass it across.", + "Grasp the dark blue microphone and pass it across.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the small audio microphone and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Seize the round head microphone and offer it to the other arm", + "Take the microphone covered with foam tip and pass it to another hand", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode188.json b/handover_mic/ur5_randomized_500/instructions/episode188.json new file mode 100644 index 0000000000000000000000000000000000000000..433d5bae01f167ab35bf208e444a88bb387ba00c --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode188.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the dark blue microphone and hand it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the small audio microphone and hand it to someone else.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the small audio microphone and move it to the other hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Lift the small audio microphone and pass it across.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grasp the dark blue microphone and pass it across.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Pick up the small audio microphone and hand it to the other side.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the microphone with round foam head and deliver it to the other side." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode189.json b/handover_mic/ur5_randomized_500/instructions/episode189.json new file mode 100644 index 0000000000000000000000000000000000000000..51fa98f09fc05bf0f2cba3167cfe415d01a2fa0f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode189.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the small audio microphone and pass it to the other hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick the round head microphone from the surface and switch hands.", + "Grasp the microphone for recording sound and pass it across.", + "Grip the microphone for recording sound and pass it to the other side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and pass it across.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the small audio microphone from the table and transfer it.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick the round head microphone from the surface and switch hands.", + "Grasp the microphone for recording sound and pass it across.", + "Grip the round head microphone and pass it to the other side", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the round head microphone and pass it across.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Secure the small audio microphone from the table and transfer it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the small audio microphone and pass it to another hand", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode194.json b/handover_mic/ur5_randomized_500/instructions/episode194.json new file mode 100644 index 0000000000000000000000000000000000000000..4f6f10e1e58b22f7e7316e2747e4c0c5ef403dd2 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode194.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering and pass it to another hand", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Use one hand to grab the small audio microphone and pass it.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the microphone with round foam head with one hand and transfer it", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the round head microphone and pass it to the other hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the round head microphone firmly and pass it to the other arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the dark blue microphone and pass it to another hand", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Lift the microphone for recording sound and pass it across.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the microphone for recording sound and move it to the other hand.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Take the gray and dark blue microphone and pass it to another hand", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the audio microphone with soft covering using one arm and transfer it." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode195.json b/handover_mic/ur5_randomized_500/instructions/episode195.json new file mode 100644 index 0000000000000000000000000000000000000000..d5cf7ad8445ba8091d63ca2820dd63a1f84a0de1 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode195.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the small audio microphone and pass it to the other hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the audio microphone with soft covering and pass it across.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the small audio microphone and deliver it to another side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Secure the round head microphone using one arm and transfer it.", + "Pick the round head microphone from the surface and switch hands.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the round head microphone and move it to another hand.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the small audio microphone with one hand and transfer it", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode198.json b/handover_mic/ur5_randomized_500/instructions/episode198.json new file mode 100644 index 0000000000000000000000000000000000000000..c95d9bde7eb2936f2c0b5ddc1e82dec8d280d320 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode198.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the small audio microphone and pass it across.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the small audio microphone and pass it across.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Secure the round head microphone from the table and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the small audio microphone securely and shift it to another arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the dark blue microphone from the surface and switch hands.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to the other hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the microphone for recording sound and pass it across." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode202.json b/handover_mic/ur5_randomized_500/instructions/episode202.json new file mode 100644 index 0000000000000000000000000000000000000000..ed21e6676a36f3bcf1c5a1af5ec79ffcbe5467e6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode202.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Secure the small audio microphone from the table and transfer it.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the round head microphone and pass it across.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the round head microphone and pass it to another hand", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Reach for the round head microphone and move it to the other hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Grip the small audio microphone and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the dark blue microphone and deliver it to another side.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the round head microphone and hand it to someone else.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the gray and dark blue microphone securely and shift it to another arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode203.json b/handover_mic/ur5_randomized_500/instructions/episode203.json new file mode 100644 index 0000000000000000000000000000000000000000..20797c08a9af0be69a0e5aae4821a05b8f724455 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode203.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Seize the round head microphone and offer it to the other arm", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grasp the microphone covered with foam tip and pass it across.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grab the small audio microphone and give it to the opposite arm.", + "Lift the dark blue microphone and pass it across.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Take the small audio microphone and move it to the other hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Lift the round head microphone and hand it to the other side easily.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grip the gray and dark blue microphone and pass it to the other side", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the round head microphone and deliver it to another side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Take the small audio microphone and move it to the other hand.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the medium microphone with two-tone color and move it to another hand." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode204.json b/handover_mic/ur5_randomized_500/instructions/episode204.json new file mode 100644 index 0000000000000000000000000000000000000000..b3fdeb47d5644b810f1f088e0685062e4b5d5845 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode204.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the small audio microphone and transfer it to another hand", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the microphone for recording sound and move it to the other hand.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand" + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode205.json b/handover_mic/ur5_randomized_500/instructions/episode205.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e905ccd5c162389744b42d2e7d5998828540c6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode205.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone, shift it, and release it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the compact size microphone and pass it across.", + "Pick the black and white microphone from the surface and switch hands.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the white microphone handle black accents and pass it across.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Secure the handheld microphone from the table and transfer it.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the handheld microphone with one hand and transfer it", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Take the microphone with textured metal head and pass it to another hand", + "Hold the metal head microphone and deliver it to another side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grasp the metal head microphone and switch it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grab the metal head microphone and give it to the opposite arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grasp the compact size microphone and pass it across.", + "Pick the black and white microphone from the surface and switch hands.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Take the handheld microphone and move it to the other hand.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the metal head microphone and pass it across.", + "Reach for the black and white microphone and move it to the other hand.", + "Secure the black and white microphone from the table and transfer it.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the metal head microphone and shift it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the metal head microphone and hand it to the other side.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the microphone with textured metal head and pass it to another hand", + "Hold the handheld microphone and deliver it to another side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Pick the black and white microphone and transfer it to the other arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grasp the microphone with rounded mesh head and switch it to another hand." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode207.json b/handover_mic/ur5_randomized_500/instructions/episode207.json new file mode 100644 index 0000000000000000000000000000000000000000..473ea149e41edc076cb088919a049086a08d4ac3 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode207.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth plastic microphone handle and pass it to another hand", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the black and white microphone and move it to the other hand.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Lift the compact size microphone and pass it across.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Lift the metal head microphone and hand it over to the other arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Reach for the black and white microphone and move it to the other hand.", + "Lift the black and white microphone and hand it over to the other side.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Lift the handheld microphone and hand it to someone else.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the handheld microphone and hand it to the other side easily.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the handheld microphone and pass it across.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Take the microphone with rounded mesh head and pass it to another hand", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Lift the black and white microphone and deliver it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Seize the compact size microphone and offer it to the other arm", + "Lift the compact size microphone and pass it across.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the compact size microphone and pass it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the compact size microphone and pass it across.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grab the compact size microphone and transfer it to another hand", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Seize the black and white microphone and offer it to the other arm" + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode215.json b/handover_mic/ur5_randomized_500/instructions/episode215.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d9bae5954a45a1f299233170829084170e6569 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode215.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Seize the small audio microphone and offer it to the other arm", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Grasp the round head microphone and pass it across.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and pass it across.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the round head microphone and pass it across.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Seize the dark blue microphone and offer it to the other arm", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode216.json b/handover_mic/ur5_randomized_500/instructions/episode216.json new file mode 100644 index 0000000000000000000000000000000000000000..c106991c83396b6a08e7b90061c3a1c9157211e3 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode216.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the microphone for recording sound and pass it to another hand", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Grip the microphone with round foam head and pass it to the other side", + "Grab the small audio microphone and transfer it to another hand", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Secure the round head microphone from the table and transfer it.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use one hand to grab the round head microphone and pass it.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the round head microphone, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the round head microphone and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the dark blue microphone and pass it to another hand", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grip the microphone for recording sound and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the round head microphone and move it to another hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the small audio microphone from the surface and switch hands.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the dark blue microphone and pass it across.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the gray and dark blue microphone and move it to the other hand." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode225.json b/handover_mic/ur5_randomized_500/instructions/episode225.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2b149569007bfc1f3bf5f51111707af61d34b6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode225.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the handheld microphone and deliver it to the other side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the metal head microphone and pass it across.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick the compact size microphone from the surface and switch hands.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Secure the black and white microphone using one arm and transfer it.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the compact size microphone and hand it to someone else.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the mesh-patterned microphone head and pass it to another hand", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Hold the black and white microphone and deliver it to another side.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the black and white microphone and move it to the opposite side", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grasp the compact size microphone and pass it across.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and pass it across.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the microphone with textured metal head and hand it to someone else.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Take the metal head microphone and pass it to another hand", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Hold the compact size microphone and deliver it to another side.", + "Reach for the metal head microphone and move it to the other hand.", + "Lift the metal head microphone and hand it to the other side easily.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode226.json b/handover_mic/ur5_randomized_500/instructions/episode226.json new file mode 100644 index 0000000000000000000000000000000000000000..62b6d4718f234edcdadc47de723100ab3ae314d2 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode226.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the metal head microphone with one hand and transfer it", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and pass it across.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the handheld microphone and hand it over to the other side.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Grab the handheld microphone and transfer it to another hand", + "Take the mesh-patterned microphone head and pass it to another hand", + "Secure the microphone for voice recording from the table and transfer it.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Hold the handheld microphone and deliver it to another side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Hold the handheld microphone with one hand and transfer it", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick the handheld microphone and transfer it to the other arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the black and white microphone and deliver it to the other side.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Lift the compact size microphone and hand it to someone else.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grip the metal head microphone and pass it to the other side", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the metal head microphone, then pass it across without delay.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Lift the microphone with rounded mesh head and pass it across.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grab the black and white microphone and transfer it to another hand", + "Take the metal head microphone and pass it to another hand", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the compact size microphone and hand it to the other side.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Hold the black and white microphone and deliver it to another side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the handheld microphone and shift it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode227.json b/handover_mic/ur5_randomized_500/instructions/episode227.json new file mode 100644 index 0000000000000000000000000000000000000000..d900c4832a6a4812e99335a4946e9f45435a5d56 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode227.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact size microphone and hand it over to the other side.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Take the metal head microphone and move it to another hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Grip the compact size microphone and pass it to the other side", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Reach for the black and white microphone and move it to the other hand.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Grab the black and white microphone and transfer it to another hand", + "Take the smooth plastic microphone handle and pass it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the metal head microphone and shift it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Take the compact size microphone and move it to another hand.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Grip the handheld microphone and pass it to the other side", + "Lift the mesh-patterned microphone head and pass it across.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Secure the microphone for voice recording from the table and transfer it.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the white microphone handle black accents and hand it to someone else.", + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the microphone with textured metal head and pass it across.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the compact size microphone with one hand and transfer it", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the metal head microphone and hand it over to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grip the compact size microphone and pass it to the other side", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode228.json b/handover_mic/ur5_randomized_500/instructions/episode228.json new file mode 100644 index 0000000000000000000000000000000000000000..5757536d81cb9a228433c9fa6f1d5bc3d1bcce2a --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode228.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone covered with foam tip and pass it to another hand", + "Take the microphone for recording sound and move it to another hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the dark blue microphone with one hand and transfer it", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Take the gray and dark blue microphone and move it to another hand.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the microphone with round foam head with one hand and transfer it", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Secure the dark blue microphone from the table and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the round head microphone and move it to another hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode231.json b/handover_mic/ur5_randomized_500/instructions/episode231.json new file mode 100644 index 0000000000000000000000000000000000000000..a40927430ac10c209d707b499f6f12f810e459ef --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode231.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with dark blue padding and pass it across.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Pick up the round head microphone and move it to the opposite side", + "Secure the round head microphone using one arm and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the round head microphone and hand it to the other side easily.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Take the round head microphone and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the round head microphone with one hand and transfer it", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering using the left arm and pass it to the right arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with round foam head and pass it across.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grip the dark blue microphone and pass it to the other side", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode233.json b/handover_mic/ur5_randomized_500/instructions/episode233.json new file mode 100644 index 0000000000000000000000000000000000000000..2d16bd0cea0303cc4cd261d9d83a387946634efc --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode233.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round head microphone securely and shift it to another arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Lift the dark blue microphone and hand it to someone else.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick the dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the round head microphone and move it to the other hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the dark blue microphone and pass it across.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick the small audio microphone from the surface and switch hands.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the microphone with round foam head and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the round head microphone and transfer it to another hand", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode236.json b/handover_mic/ur5_randomized_500/instructions/episode236.json new file mode 100644 index 0000000000000000000000000000000000000000..ab9c3003e47df7bfd8adf24a8cc8d9e9c318d95c --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode236.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone for voice recording and pass it across.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Take the white microphone handle black accents and move it to the other hand.", + "Secure the metal head microphone using one arm and transfer it.", + "Lift the black and white microphone and deliver it to the other side.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Seize the compact size microphone and offer it to the other arm", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the compact size microphone with one hand and transfer it", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Hold the compact size microphone and deliver it to another side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Grab the microphone for voice recording and transfer it to another hand", + "Take the black and white microphone, shift it, and release it to the other side.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the handheld microphone and pass it to the other hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the black and white microphone securely and shift it to another arm.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Grip the metal head microphone and pass it to the other side", + "Pick up the black and white microphone and move it to the opposite side", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the compact size microphone and shift it to the other arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the metal head microphone with one hand and transfer it", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the handheld microphone and deliver it to another side.", + "Lift the metal head microphone and pass it across.", + "Grab the black and white microphone and transfer it to another hand", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grasp the black and white microphone and switch it to another hand.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode24.json b/handover_mic/ur5_randomized_500/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..816498904c121984627397b48a173751b6caa5a5 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the round head microphone and hand it to someone else.", + "Grip the round head microphone and pass it to the other side", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grab the round head microphone and transfer it to another hand", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grasp the small audio microphone and pass it across.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the dark blue microphone and pass it across.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Pick the round head microphone from the surface and switch hands.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the microphone with round foam head and pass it across.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the round head microphone and deliver it to another side.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it to someone else." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode240.json b/handover_mic/ur5_randomized_500/instructions/episode240.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8afcbcde823383f069a92edf7cceef222102ad --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode240.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the dark blue microphone and pass it across.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the round head microphone, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the microphone for recording sound and move it to the other hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the round head microphone and hand it to someone else.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the audio microphone with soft covering and pass it to another hand", + "Lift the dark blue microphone and pass it across.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grip the round head microphone and pass it to the other side", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the round head microphone and hand it over to the other side.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with round foam head and pass it across.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the round head microphone and move it to another hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Pick up the microphone for recording sound and hand it to the other side." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode241.json b/handover_mic/ur5_randomized_500/instructions/episode241.json new file mode 100644 index 0000000000000000000000000000000000000000..dda84c7cd49d2adc9e144e7b18c0d903a55738c6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode241.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with round foam head with one hand and transfer it", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the dark blue microphone and pass it to another hand", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the dark blue microphone and pass it across.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the gray and dark blue microphone and move it to the other hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick the microphone with round foam head from the surface and switch hands.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the microphone for recording sound using one arm and transfer it." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode247.json b/handover_mic/ur5_randomized_500/instructions/episode247.json new file mode 100644 index 0000000000000000000000000000000000000000..e65b9ddc23d2058acbe40e5b4582e31bbc29397c --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode247.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the dark blue microphone and give it to the opposite arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Take the small audio microphone and pass it to another hand", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the round head microphone and switch it to another hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Take the small audio microphone and pass it to another hand", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Hold the round head microphone and deliver it to another side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the round head microphone securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it" + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode248.json b/handover_mic/ur5_randomized_500/instructions/episode248.json new file mode 100644 index 0000000000000000000000000000000000000000..994c72e250ea3c5e480d3ecc7915a0e9a4bcc0a3 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode248.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the small audio microphone, then pass it across without delay.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the small audio microphone and pass it across.", + "Hold the small audio microphone and pass it to the other hand.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the round head microphone and shift it to the other arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Secure the round head microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the microphone with round foam head and switch it to another hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone with dark blue padding and move it to another hand.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick the round head microphone and transfer it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grasp the medium microphone with two-tone color and switch it to another hand." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode249.json b/handover_mic/ur5_randomized_500/instructions/episode249.json new file mode 100644 index 0000000000000000000000000000000000000000..7a4a55c3f9549952b0c05151905a33928aaf8bc9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode249.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the small audio microphone and pass it across.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the small audio microphone and pass it across.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grip the dark blue microphone and pass it to the other side", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the microphone with dark blue padding and pass it to another hand", + "Take the microphone with dark blue padding and move it to another hand.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use one hand to grab the round head microphone and pass it.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Hold the microphone for recording sound and pass it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the microphone with smooth gray stem and move it to another hand.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Seize the microphone for recording sound and offer it to the other arm", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode254.json b/handover_mic/ur5_randomized_500/instructions/episode254.json new file mode 100644 index 0000000000000000000000000000000000000000..0e84b1552eaad603ed5cb6b64fcb0dc1d3e0def8 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode254.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the metal head microphone and pass it across.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Seize the metal head microphone and offer it to the other arm", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Lift the black and white microphone and hand it over to the other arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Lift the microphone for voice recording and pass it across.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Grip the white microphone handle black accents and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the metal head microphone securely and shift it to another arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the compact size microphone and hand it over to the other side.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Take the compact size microphone and pass it to another hand", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Secure the black and white microphone using one arm and transfer it.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Grip the metal head microphone and pass it to the other side", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the black and white microphone with one hand and transfer it", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the black and white microphone securely and shift it to another arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Lift the black and white microphone and hand it to someone else.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grasp the microphone for voice recording and pass it across.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Hold the microphone with textured metal head and deliver it to another side.", + "Pick the handheld microphone from the surface and switch hands.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the white microphone handle black accents, then pass it across without delay." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode257.json b/handover_mic/ur5_randomized_500/instructions/episode257.json new file mode 100644 index 0000000000000000000000000000000000000000..320c415fbf6b6fc7f99a0056abe88f2c10a6d4a2 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode257.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Lift the microphone with round foam head and pass it across.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the small audio microphone and pass it to another hand", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the small audio microphone and deliver it to another side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grip the dark blue microphone and pass it to the other side", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Lift the small audio microphone and pass it across.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Pick up the round head microphone and hand it to the other side.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grip the small audio microphone and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone for recording sound and move it to another hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick up the microphone with dark blue padding and hand it to the other side." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode262.json b/handover_mic/ur5_randomized_500/instructions/episode262.json new file mode 100644 index 0000000000000000000000000000000000000000..2b7296ac41d8338a7c44d949cddf95048cd26d26 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode262.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the dark blue microphone and pass it.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Hold the round head microphone securely and shift it to another arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the small audio microphone and deliver it to the other side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grip the round head microphone and pass it to the other side", + "Secure the round head microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the small audio microphone and switch it to another hand.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the round head microphone and move it to another hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the small audio microphone and pass it across.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grip the microphone with dark blue padding and pass it to the other side", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the round head microphone and hand it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grasp the small audio microphone and pass it across.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the round head microphone and move it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Lift the round head microphone and pass it across.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick the microphone for recording sound from the surface and switch hands." + ], + "unseen": [ + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode266.json b/handover_mic/ur5_randomized_500/instructions/episode266.json new file mode 100644 index 0000000000000000000000000000000000000000..03cc2e1f7f61056724e4973213fd4cf3c4acc9ab --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode266.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Secure the dark blue microphone from the table and transfer it.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the round head microphone and move it to another hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Take the small audio microphone and move it to the other hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Lift the dark blue microphone and pass it across.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the round head microphone and hand it to the other side.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Reach for the round head microphone and move it to the other hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grab the small audio microphone and give it to the opposite arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Use one arm to pick up the round head microphone and give it to the other.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the small audio microphone and move it to the other hand.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Secure the round head microphone from the table and transfer it.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode267.json b/handover_mic/ur5_randomized_500/instructions/episode267.json new file mode 100644 index 0000000000000000000000000000000000000000..0c4f7dad40eb7f0dcfa64d53b7fbd38dadbf0b81 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode267.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the compact size microphone securely and shift it to another arm.", + "Secure the compact size microphone from the table and transfer it.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick the metal head microphone from the surface and switch hands.", + "Take the microphone for voice recording and move it to another hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Take the microphone for voice recording and pass it to another hand", + "Lift the microphone for voice recording and hand it to someone else.", + "Hold the handheld microphone and deliver it to another side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the handheld microphone and pass it to the other hand.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the metal head microphone and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the microphone for voice recording and switch it to another hand.", + "Lift the microphone for voice recording and pass it across.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Take the microphone for voice recording and pass it to another hand", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grip the microphone for voice recording and pass it to the other side", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Pick up the handheld microphone and move it to the opposite side", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Grab the compact size microphone and transfer it to another hand", + "Lift the metal head microphone, then pass it across without delay.", + "Reach for the microphone for voice recording and move it to the other hand." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode274.json b/handover_mic/ur5_randomized_500/instructions/episode274.json new file mode 100644 index 0000000000000000000000000000000000000000..0817c2781730195e6d6634adffd2d3fe6af18304 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode274.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black and white microphone and pass it across.", + "Grab the compact size microphone and give it to the opposite arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the black and white microphone and hand it over to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Hold the black and white microphone with one hand and transfer it", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Secure the black and white microphone from the table and transfer it.", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Lift the handheld microphone and pass it across.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Take the metal head microphone and move it to another hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Secure the metal head microphone using one arm and transfer it.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the white microphone handle black accents and pass it to another hand", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grasp the black and white microphone and switch it to another hand.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the handheld microphone and pass it across.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Lift the black and white microphone and hand it over to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Hold the black and white microphone and shift it to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Lift the compact size microphone and pass it across.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Lift the microphone for voice recording and hand it to someone else.", + "Take the handheld microphone and move it to another hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Reach for the metal head microphone and move it to the other hand.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Use one hand to grab the metal head microphone and pass it.", + "Secure the handheld microphone using one arm and transfer it.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Take the microphone for voice recording and pass it to another hand", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the microphone for voice recording and move it to the other hand.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the microphone with black tip and white body and pass it across.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Hold the metal head microphone and shift it to the other arm." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode276.json b/handover_mic/ur5_randomized_500/instructions/episode276.json new file mode 100644 index 0000000000000000000000000000000000000000..1b08c6a09a3114dba3c6c7a2ddf28eb94387d38b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode276.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Hold the round head microphone with one hand and transfer it", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the dark blue microphone and pass it across.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grip the microphone for recording sound and pass it to the other side", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Secure the round head microphone from the table and transfer it.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Reach for the round head microphone and move it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone with round foam head and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Hold the small audio microphone and deliver it to another side.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Take the dark blue microphone and move it to the other hand.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Take the round head microphone and move it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use one hand to grab the gray and dark blue microphone and pass it." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode28.json b/handover_mic/ur5_randomized_500/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f30f75b62ddeb9b2352c5be7c6d4df5d709464 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grab the small audio microphone and transfer it to another hand", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Hold the small audio microphone and pass it to the other hand.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone for recording sound and deliver it to another side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the microphone for recording sound and move it to the other hand.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Seize the round head microphone and offer it to the other arm", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Secure the round head microphone from the table and transfer it.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head and hand it to someone else.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use one hand to grab the round head microphone and pass it.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone with round foam head and move it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Pick up the round head microphone and hand it to the other side.", + "Secure the microphone for recording sound from the table and transfer it.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side" + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode280.json b/handover_mic/ur5_randomized_500/instructions/episode280.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb8a9677f2ca0b9770738364db015fa7dcd93b6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode280.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the round head microphone and deliver it to another side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the dark blue microphone and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the small audio microphone and transfer it to another hand", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the small audio microphone and deliver it to another side.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the round head microphone and pass it across.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the gray stem microphone with foam top and pass it to another hand" + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode281.json b/handover_mic/ur5_randomized_500/instructions/episode281.json new file mode 100644 index 0000000000000000000000000000000000000000..15ee157ea6f47835c07506e4e549cf1a90c4b09f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode281.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the dark blue microphone and pass it to the other side", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the dark blue microphone with one hand and transfer it", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick the round head microphone from the surface and switch hands.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Secure the small audio microphone using one arm and transfer it.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the round head microphone using the right arm and pass it to the left arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode285.json b/handover_mic/ur5_randomized_500/instructions/episode285.json new file mode 100644 index 0000000000000000000000000000000000000000..592a98056a996bcbc3a9f2d9663fe5a283fb4359 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode285.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the small audio microphone with one hand and transfer it", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grip the small audio microphone and pass it to the other side", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the dark blue microphone and pass it across.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grasp the microphone for recording sound, then give it to the other arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode287.json b/handover_mic/ur5_randomized_500/instructions/episode287.json new file mode 100644 index 0000000000000000000000000000000000000000..d7719c1d634880110a859d8b7dbd6b6bf32bbea4 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode287.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick up the dark blue microphone and move it to the opposite side", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the small audio microphone and pass it to another hand", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the round head microphone and pass it to the other hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the dark blue microphone with one hand and transfer it", + "Grip the microphone with round foam head and pass it to the other side", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Seize the round head microphone and offer it to the other arm", + "Use one hand to grab the small audio microphone and pass it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Lift the small audio microphone and pass it across.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the round head microphone and switch it to another hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the dark blue microphone and move it to the other hand.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grasp the dark blue microphone and pass it across.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Use one hand to grab the round head microphone and pass it.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode292.json b/handover_mic/ur5_randomized_500/instructions/episode292.json new file mode 100644 index 0000000000000000000000000000000000000000..4e8784fb65dc74c8f4cbea3bde4e5a1de17924a0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode292.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone for recording sound and hand it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Pick the round head microphone from the surface and switch hands.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the small audio microphone and pass it across.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Seize the small audio microphone and offer it to the other arm", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick the dark blue microphone from the surface and switch hands.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Seize the dark blue microphone and offer it to the other arm", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grip the small audio microphone and pass it to the other side", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the gray stem microphone with foam top and hand it to someone else." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode293.json b/handover_mic/ur5_randomized_500/instructions/episode293.json new file mode 100644 index 0000000000000000000000000000000000000000..f700d8a7b6aca3ba6ba38d284cb11c85e23c654f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode293.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the metal head microphone and pass it.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the microphone for voice recording and move it to the other hand.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Hold the compact size microphone and pass it to the other hand.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the black and white microphone, then pass it across without delay.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick the black and white microphone and transfer it to the other arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Take the handheld microphone and pass it to another hand", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Grab the compact size microphone and transfer it to another hand", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Hold the black and white microphone and deliver it to another side.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Take the handheld microphone and move it to another hand.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grasp the compact size microphone and pass it across.", + "Grip the handheld microphone and pass it to the other side", + "Take the microphone for voice recording and move it to the other hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Hold the handheld microphone securely and shift it to another arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the compact size microphone, then pass it across without delay.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Take the microphone for voice recording and pass it to another hand", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Grab the microphone for voice recording and transfer it to another hand", + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Lift the microphone with textured metal head and pass it across.", + "Take the handheld microphone and move it to another hand.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Grip the handheld microphone and pass it to the other side", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode30.json b/handover_mic/ur5_randomized_500/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..edb80bd863d4e4be98c861dfbf53019e7cb279c0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the dark blue microphone and pass it to another hand", + "Take the round head microphone and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Secure the round head microphone from the table and transfer it.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grab the round head microphone and transfer it to another hand", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone with round foam head and deliver it to another side.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the round head microphone and move it to another hand.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Reach for the dark blue microphone and move it to the other hand.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode303.json b/handover_mic/ur5_randomized_500/instructions/episode303.json new file mode 100644 index 0000000000000000000000000000000000000000..bf388fc30e67fc5a7d25eedc0352b56805b4efb9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode303.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the round head microphone, shift it, and release it to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and switch it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Secure the small audio microphone from the table and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the round head microphone and hand it over to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the left arm to hold the small audio microphone, then give it to the right arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Seize the small audio microphone and offer it to the other arm", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the round head microphone and pass it to another hand", + "Lift the dark blue microphone and pass it across.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Grasp the round head microphone and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone with round foam head and move it to another hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Secure the round head microphone using one arm and transfer it.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the gray and dark blue microphone and give it to the opposite arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode310.json b/handover_mic/ur5_randomized_500/instructions/episode310.json new file mode 100644 index 0000000000000000000000000000000000000000..74c5156b05f58da177f196ccfbb86dfe8f41729a --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode310.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the microphone with black tip and white body and pass it across.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Pick up the handheld microphone and move it to the opposite side", + "Grab the metal head microphone and transfer it to another hand", + "Take the metal head microphone and move it to another hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Take the microphone for voice recording and pass it to another hand", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Take the handheld microphone and move it to the other hand.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the compact size microphone and shift it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Secure the compact size microphone from the table and transfer it.", + "Hold the compact size microphone and deliver it to another side.", + "Seize the metal head microphone and offer it to the other arm", + "Pick the metal head microphone from the surface and switch hands.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Take the metal head microphone and move it to another hand.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Take the compact size microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Use one hand to grab the metal head microphone and pass it.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the black and white microphone and deliver it to another side.", + "Seize the compact size microphone and offer it to the other arm", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the handheld microphone and hand it to the other side easily.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the compact size microphone and pass it across.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the metal head microphone, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode315.json b/handover_mic/ur5_randomized_500/instructions/episode315.json new file mode 100644 index 0000000000000000000000000000000000000000..a54ac137a1de285edcff5bc2618614ddecefaee0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode315.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Take the dark blue microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the dark blue microphone and pass it to another hand", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grab the round head microphone and transfer it to another hand", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick the small audio microphone and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the small audio microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the small audio microphone and switch it to another hand.", + "Take the small audio microphone and move it to another hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grip the small audio microphone and pass it to the other side", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with round foam head and pass it." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode319.json b/handover_mic/ur5_randomized_500/instructions/episode319.json new file mode 100644 index 0000000000000000000000000000000000000000..1227dffba0450a17003459b5a01020f828d37147 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode319.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the microphone for recording sound and pass it across.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the small audio microphone and deliver it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound and pass it across.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Hold the small audio microphone and pass it to the other hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Pick up the small audio microphone and hand it to the other side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the round head microphone and move it to another hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the round head microphone and pass it across.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Pick up the round head microphone and hand it to the other side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the microphone with smooth gray stem and pass it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the round head microphone and move it to another hand.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the dark blue microphone with the right arm and give it to the left arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode323.json b/handover_mic/ur5_randomized_500/instructions/episode323.json new file mode 100644 index 0000000000000000000000000000000000000000..334d1c7a72f7b0af46004ea8e5d7b81812453a35 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode323.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body and pass it to another hand", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Take the metal head microphone and move it to another hand.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the handheld microphone and deliver it to another side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Grasp the black and white microphone and pass it across.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Take the black and white microphone and move it to the other hand.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the microphone for voice recording and pass it across.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the black and white microphone and move it to another hand.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the black and white microphone and hand it over to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Take the handheld microphone and move it to the other hand.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the compact size microphone and hand it to someone else.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grasp the black and white microphone and switch it to another hand.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Take the compact size microphone and pass it to another hand", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick up the metal head microphone and hand it to the other side." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode324.json b/handover_mic/ur5_randomized_500/instructions/episode324.json new file mode 100644 index 0000000000000000000000000000000000000000..4e85a5e69817c74125a104e154af15f3787da618 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode324.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the round head microphone, then give it to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grip the round head microphone and pass it to the other side", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone for recording sound and pass it across.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the round head microphone and move it to another hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Secure the dark blue microphone from the table and transfer it.", + "Take the round head microphone and move it to the other hand.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Seize the round head microphone and offer it to the other arm", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the microphone with round foam head and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the round head microphone and switch it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the dark blue microphone and hand it to someone else.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the round head microphone, then give it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the microphone with smooth gray stem and move it to the other hand." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode325.json b/handover_mic/ur5_randomized_500/instructions/episode325.json new file mode 100644 index 0000000000000000000000000000000000000000..023f5d0dffa4e3ad396f968a8a6e346ba5aaaae6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode325.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the round head microphone and deliver it to another side.", + "Lift the small audio microphone and hand it over to the other side.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Take the small audio microphone and move it to another hand.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Secure the round head microphone using one arm and transfer it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the round head microphone and move it to the opposite side", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grip the dark blue microphone and pass it to the other side", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the small audio microphone and pass it to another hand", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grasp the dark blue microphone and pass it across.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use one hand to grab the microphone with round foam head and pass it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Lift the audio microphone with soft covering, then pass it across without delay." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode326.json b/handover_mic/ur5_randomized_500/instructions/episode326.json new file mode 100644 index 0000000000000000000000000000000000000000..66df04d0c9bff2df8c7fd5f105e60037789479c9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode326.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grasp the microphone with black tip and white body and pass it across.", + "Lift the compact size microphone and hand it to someone else.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Secure the compact size microphone from the table and transfer it.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Hold the black and white microphone and deliver it to another side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Lift the microphone for voice recording and pass it across.", + "Grab the handheld microphone and transfer it to another hand", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the compact size microphone, then pass it across without delay.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone for voice recording and hand it to someone else.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the metal head microphone and deliver it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick up the black and white microphone and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grab the metal head microphone and transfer it to another hand", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the compact size microphone and pass it to the other hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the metal head microphone with one hand and transfer it", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the handheld microphone and pass it to another hand", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the handheld microphone and pass it across.", + "Lift the black and white microphone and hand it to someone else.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the smooth plastic microphone handle using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the black and white microphone and move it to the opposite side" + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode328.json b/handover_mic/ur5_randomized_500/instructions/episode328.json new file mode 100644 index 0000000000000000000000000000000000000000..24487b413c4a40b38a477566cc0e165587e0c0a9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode328.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone for voice recording and offer it to the other arm", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the compact size microphone and move it to another hand.", + "Hold the metal head microphone and pass it to the other hand.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the handheld microphone, then pass it across without delay.", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the metal head microphone and pass it across.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the metal head microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the handheld microphone and shift it to the other arm.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Grasp the compact size microphone, then give it to the other arm.", + "Seize the handheld microphone and offer it to the other arm", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Take the handheld microphone and pass it to another hand", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Lift the handheld microphone and hand it to someone else.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the metal head microphone with one hand and transfer it", + "Lift the black and white microphone and hand it to the other side easily.", + "Take the compact size microphone and move it to the other hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Hold the black and white microphone and deliver it to another side.", + "Pick the metal head microphone and transfer it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Seize the handheld microphone and offer it to the other arm", + "Grab the compact size microphone and give it to the opposite arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the handheld microphone and switch it to another hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Lift the handheld microphone, then pass it across without delay." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode330.json b/handover_mic/ur5_randomized_500/instructions/episode330.json new file mode 100644 index 0000000000000000000000000000000000000000..5d122fb0443dbc551c03ceca041139d86f61e22b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode330.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone with round foam head and pass it across.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the small audio microphone and pass it to another hand", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grasp the microphone for recording sound and pass it across.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick up the round head microphone and move it to the opposite side", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the round head microphone and transfer it to the other arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the small audio microphone securely and shift it to another arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the round head microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the small audio microphone and pass it across.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode331.json b/handover_mic/ur5_randomized_500/instructions/episode331.json new file mode 100644 index 0000000000000000000000000000000000000000..01ea751b40c3d9f10063cabf467cd3e23d2e011c --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode331.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the microphone with black tip and white body and offer it to the other arm", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Hold the handheld microphone with one hand and transfer it", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Secure the compact size microphone from the table and transfer it.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Lift the white microphone handle black accents and pass it across.", + "Lift the metal head microphone and hand it over to the other side.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the handheld microphone and pass it across.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the metal head microphone and hand it to the other side easily.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Take the white microphone handle black accents and move it to another hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the handheld microphone and deliver it to another side.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Seize the metal head microphone and offer it to the other arm", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Hold the compact size microphone with one hand and transfer it", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the black and white microphone, then pass it across without delay.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Grasp the metal head microphone and pass it across.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick the metal head microphone and transfer it to the other arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Grasp the compact size microphone, then give it to the other arm.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Grab the compact size microphone and give it to the opposite arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Hold the handheld microphone and shift it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grip the handheld microphone and pass it to the other side", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Pick up the compact size microphone and hand it to the other side.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Lift the handheld microphone and hand it to someone else.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode333.json b/handover_mic/ur5_randomized_500/instructions/episode333.json new file mode 100644 index 0000000000000000000000000000000000000000..6d558513856923c6dafd2b4cf37fc8a4f8a807f7 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode333.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the round head microphone and deliver it to the other side.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the round head microphone, then pass it across without delay.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Take the dark blue microphone and move it to the other hand.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the round head microphone and pass it across.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the microphone for recording sound and pass it across.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the microphone with dark blue padding and shift it to the other arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode337.json b/handover_mic/ur5_randomized_500/instructions/episode337.json new file mode 100644 index 0000000000000000000000000000000000000000..13dd88f4b3935bf06ded20b5b8c1712c52e49dd4 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode337.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Hold the round head microphone with one hand and transfer it", + "Lift the round head microphone and deliver it to the other side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grab the microphone for recording sound and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the microphone with round foam head and pass it across.", + "Take the round head microphone and move it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the small audio microphone and pass it to the other hand.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the round head microphone using the left arm and transfer it to the right arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Hold the dark blue microphone and deliver it to another side.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the round head microphone securely and shift it to another arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the dark blue microphone and pass it to another hand", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the dark blue microphone and move it to another hand.", + "Lift the round head microphone and pass it across.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grasp the microphone for recording sound, then give it to the other arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode339.json b/handover_mic/ur5_randomized_500/instructions/episode339.json new file mode 100644 index 0000000000000000000000000000000000000000..37ac2f72625ed1edda0e86062ff899e2b97d0e9b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode339.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the round head microphone and offer it to the other arm", + "Grip the round head microphone and pass it to the other side", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the round head microphone and move it to the opposite side", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grip the round head microphone and pass it to the other side", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the round head microphone and pass it across.", + "Lift the round head microphone and deliver it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the round head microphone and move it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the round head microphone and switch it to another hand.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Take the microphone covered with foam tip, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode349.json b/handover_mic/ur5_randomized_500/instructions/episode349.json new file mode 100644 index 0000000000000000000000000000000000000000..0d295de6aadf8e3581a9abbe4265af8482f97d5e --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode349.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the dark blue microphone and pass it across.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Take the dark blue microphone and move it to the other hand.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Secure the small audio microphone from the table and transfer it.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Lift the dark blue microphone and pass it across.", + "Take the dark blue microphone and pass it to another hand", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the round head microphone and deliver it to the other side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grasp the small audio microphone, then give it to the other arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Reach for the round head microphone and move it to the other hand.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use the right arm to grab the round head microphone and transfer it to the left arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode35.json b/handover_mic/ur5_randomized_500/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..5f034e9e31ca9c3b42970b535982dc0301f11efc --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone and move it to another hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and hand it to someone else.", + "Grab the small audio microphone and give it to the opposite arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Reach for the small audio microphone and move it to the other hand.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding and pass it across.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the small audio microphone with one hand and transfer it", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone with round foam head and deliver it to the other side.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the round head microphone and hand it to someone else.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one hand to grab the small audio microphone and pass it.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the small audio microphone and transfer it to another hand", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the round head microphone with one hand and transfer it", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode351.json b/handover_mic/ur5_randomized_500/instructions/episode351.json new file mode 100644 index 0000000000000000000000000000000000000000..2c0fb7df0658bf8e0b80b66f976c6af2921a2f51 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode351.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the round head microphone and deliver it to the other side.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Seize the dark blue microphone and offer it to the other arm", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone for recording sound and pass it across.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grip the dark blue microphone and pass it to the other side", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the dark blue microphone and hand it over to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with round foam head and deliver it to another side.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Secure the small audio microphone using one arm and transfer it.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Take the dark blue microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the microphone for recording sound and pass it across.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use one hand to grab the gray and dark blue microphone and pass it." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode353.json b/handover_mic/ur5_randomized_500/instructions/episode353.json new file mode 100644 index 0000000000000000000000000000000000000000..a2239ea70286f9c7bdb2e56a2d163006893472ab --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode353.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the gray stem microphone with foam top and pass it across.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the round head microphone and move it to another hand.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Secure the round head microphone from the table and transfer it.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone with round foam head and pass it across.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode356.json b/handover_mic/ur5_randomized_500/instructions/episode356.json new file mode 100644 index 0000000000000000000000000000000000000000..436e6fd1df77567ecc73b91701d2e919c6b5c0d7 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode356.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Pick the metal head microphone from the surface and switch hands.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the handheld microphone and pass it to the other hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Grab the compact size microphone and give it to the opposite arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Take the compact size microphone and pass it to another hand", + "Lift the microphone for voice recording and pass it across.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the metal head microphone, then pass it across without delay.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Take the black and white microphone and move it to the other hand.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the handheld microphone and pass it across.", + "Grasp the compact size microphone and switch it to another hand.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Secure the microphone with textured metal head from the table and transfer it.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm." + ], + "unseen": [ + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode358.json b/handover_mic/ur5_randomized_500/instructions/episode358.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc9f49281104cdf0bf1e2499953981f89158532 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode358.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the round head microphone and hand it to someone else.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grasp the round head microphone and switch it to another hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the microphone for recording sound and pass it to another hand", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Reach for the small audio microphone and move it to the other hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the round head microphone and pass it to the other hand.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grasp the audio microphone with soft covering and pass it across.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the round head microphone and hand it over to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the small audio microphone and deliver it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Reach for the microphone with round foam head and move it to the other hand." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode362.json b/handover_mic/ur5_randomized_500/instructions/episode362.json new file mode 100644 index 0000000000000000000000000000000000000000..29889898798047fedda3661e18df4b6b68eb6455 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode362.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the black and white microphone and hand it over to the other side.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Take the compact size microphone and move it to the other hand.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grip the black and white microphone and pass it to the other side", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the compact size microphone and move it to another hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Pick the handheld microphone from the surface and switch hands.", + "Lift the handheld microphone and pass it across.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Lift the black and white microphone and hand it to someone else.", + "Use one hand to grab the handheld microphone and pass it.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the handheld microphone and pass it across.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Hold the handheld microphone securely and shift it to another arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Take the white microphone handle black accents and move it to the other hand.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Grasp the handheld microphone and switch it to another hand.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other arm.", + "Secure the microphone for voice recording from the table and transfer it.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Lift the microphone for voice recording and hand it to someone else." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode37.json b/handover_mic/ur5_randomized_500/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe1574f42fe3bad8da61fddf1308a5470758561 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone for recording sound and hand it to the other side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the round head microphone and pass it to the other hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the round head microphone and deliver it to the other side.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the small audio microphone, then give it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Lift the dark blue microphone and pass it across.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Reach for the dark blue microphone and move it to the other hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the round head microphone securely and shift it to another arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the round head microphone and pass it across.", + "Grasp the round head microphone, then give it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the microphone with round foam head and give it to the opposite arm." + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode371.json b/handover_mic/ur5_randomized_500/instructions/episode371.json new file mode 100644 index 0000000000000000000000000000000000000000..45e0269d9a097654f77c6c6d12999671c8f0cdbe --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode371.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Seize the round head microphone and offer it to the other arm", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Reach for the round head microphone and move it to the other hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the round head microphone, then pass it across without delay.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Take the round head microphone and move it to another hand.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the round head microphone and hand it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grasp the microphone with dark blue padding and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode372.json b/handover_mic/ur5_randomized_500/instructions/episode372.json new file mode 100644 index 0000000000000000000000000000000000000000..ab42124a3216a2ea37291836937e3aef14014e6f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode372.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the microphone with round foam head and pass it across.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Hold the round head microphone and shift it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the small audio microphone, then give it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone covered with foam tip and pass it across.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the round head microphone, shift it, and release it to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the small audio microphone and pass it across.", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grip the microphone for recording sound and pass it to the other side", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it over to the other arm." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode375.json b/handover_mic/ur5_randomized_500/instructions/episode375.json new file mode 100644 index 0000000000000000000000000000000000000000..2d79943966665741d8a23b314aaec7765d9cedeb --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode375.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact size microphone and hand it to someone else.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Lift the compact size microphone, then pass it across without delay.", + "Lift the microphone with textured metal head using the right arm and pass it to the left arm.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Hold the black and white microphone and pass it to the other hand.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the black and white microphone and transfer it to another hand", + "Take the smooth plastic microphone handle and pass it to another hand", + "Lift the metal head microphone and hand it to the other side easily.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Reach for the handheld microphone and move it to the other hand.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grip the white microphone handle black accents and pass it to the other side", + "Seize the black and white microphone and offer it to the other arm", + "Grasp the black and white microphone and switch it to another hand.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the metal head microphone and pass it.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Lift the metal head microphone and hand it to someone else.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Secure the compact size microphone from the table and transfer it.", + "Grasp the metal head microphone and pass it across.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Pick up the black and white microphone and hand it to the other side.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the black and white microphone and pass it across.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Hold the compact size microphone and shift it to the other arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Secure the metal head microphone using one arm and transfer it.", + "Grip the black and white microphone and pass it to the other side", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grab the microphone for voice recording using the right arm and pass it over to the left arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode377.json b/handover_mic/ur5_randomized_500/instructions/episode377.json new file mode 100644 index 0000000000000000000000000000000000000000..18ef7894e3fed732332f091165240e95513046ae --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode377.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal head microphone and pass it across.", + "Take the microphone with textured metal head and pass it to another hand", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick up the handheld microphone and move it to the opposite side", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Hold the compact size microphone securely and shift it to another arm.", + "Hold the handheld microphone and deliver it to another side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Pick the handheld microphone from the surface and switch hands.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the white microphone handle black accents and move it to another hand.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Grasp the black and white microphone and pass it across.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grasp the metal head microphone, then give it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the handheld microphone and pass it across.", + "Take the white microphone handle black accents and pass it to another hand", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Pick the compact size microphone from the surface and switch hands.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.", + "Seize the microphone for voice recording and offer it to the other arm", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the compact size microphone and hand it to someone else.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grip the handheld microphone and pass it to the other side", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the compact size microphone, then give it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the microphone for voice recording and pass it across.", + "Take the microphone with black tip and white body and pass it to another hand", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the metal head microphone and deliver it to another side.", + "Secure the compact size microphone from the table and transfer it.", + "Grab the white microphone handle black accents and give it to the opposite arm." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode378.json b/handover_mic/ur5_randomized_500/instructions/episode378.json new file mode 100644 index 0000000000000000000000000000000000000000..5a6c9674185ee1bc20404d701c6c3e6df8ed5653 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode378.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone for recording sound and transfer it to another hand", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Hold the round head microphone and pass it to the other hand.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Hold the round head microphone and deliver it to another side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Reach for the round head microphone and move it to the other hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the round head microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the small audio microphone and pass it across.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Take the dark blue microphone and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and hand it over to the other side." + ], + "unseen": [ + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode379.json b/handover_mic/ur5_randomized_500/instructions/episode379.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb88efc158a07bc822ab8335c8cfada032004c0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode379.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Hold the round head microphone with one hand and transfer it", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grip the round head microphone and pass it to the other side", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with round foam head and pass it across.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the round head microphone and hand it to someone else.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Pick up the dark blue microphone and hand it to the other side.", + "Reach for the round head microphone and move it to the other hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the small audio microphone and hand it over to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick the round head microphone and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Use one hand to grab the dark blue microphone and pass it." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode381.json b/handover_mic/ur5_randomized_500/instructions/episode381.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ce3d8556ce510bf7e2057a4065637f765071bd --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode381.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grip the microphone for recording sound and pass it to the other side", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the audio microphone with soft covering using the left arm and transfer it to the right arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Reach for the dark blue microphone and move it to the other hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the microphone with round foam head with the left arm and give it to the right arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grip the microphone with round foam head and pass it to the other side", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with round foam head and move it to the opposite side", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the dark blue microphone with the left arm and give it to the right arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the round head microphone and hand it to the other side easily.", + "Take the round head microphone and pass it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Lift the small audio microphone using the left arm and pass it to the right arm." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode382.json b/handover_mic/ur5_randomized_500/instructions/episode382.json new file mode 100644 index 0000000000000000000000000000000000000000..65e031c0b8caa25db67dda7cb9569d6d8f5677e3 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode382.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the small audio microphone and pass it to the other side", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the round head microphone and pass it across.", + "Lift the small audio microphone and deliver it to the other side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the microphone with round foam head and pass it across.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the round head microphone and deliver it to the other side.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grip the gray stem microphone with foam top and pass it to the other side" + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode383.json b/handover_mic/ur5_randomized_500/instructions/episode383.json new file mode 100644 index 0000000000000000000000000000000000000000..c7554a96d02989fd7b87bf3d7e11963261339421 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode383.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grab the small audio microphone and give it to the opposite arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one hand to grab the dark blue microphone and pass it.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound and hand it to someone else.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Take the dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the dark blue microphone and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Secure the round head microphone using one arm and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side" + ], + "unseen": [ + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode384.json b/handover_mic/ur5_randomized_500/instructions/episode384.json new file mode 100644 index 0000000000000000000000000000000000000000..ddab15e0c84c76e2ebcbb943d7511c757f420958 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode384.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the small audio microphone and offer it to the other arm", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the microphone for recording sound from the table and transfer it.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the round head microphone and move it to the other hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Take the small audio microphone and pass it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Take the microphone with smooth gray stem and move it to another hand.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Seize the round head microphone and offer it to the other arm", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the small audio microphone and hand it to the other side easily.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the microphone with round foam head and move it to the other hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Take the gray and dark blue microphone and move it to another hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Seize the microphone with round foam head and offer it to the other arm", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it over to the other arm." + ], + "unseen": [ + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode385.json b/handover_mic/ur5_randomized_500/instructions/episode385.json new file mode 100644 index 0000000000000000000000000000000000000000..c90924efa05f19e50e9d51d1cae781288d0ed169 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode385.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Pick up the round head microphone and move it to the opposite side", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the dark blue microphone and pass it across.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Hold the small audio microphone and deliver it to another side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with round foam head and deliver it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grip the round head microphone and pass it to the other side", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Secure the round head microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the round head microphone and deliver it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Secure the dark blue microphone using one arm and transfer it." + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode386.json b/handover_mic/ur5_randomized_500/instructions/episode386.json new file mode 100644 index 0000000000000000000000000000000000000000..9f62a2fa1456488f6f38a555accb1f8e510a6687 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode386.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Hold the microphone with black tip and white body with the right arm and give it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Secure the compact size microphone using one arm and transfer it.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the metal head microphone with one hand and transfer it", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the metal head microphone and pass it to another hand", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Lift the compact size microphone and hand it to someone else.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the microphone with cylindrical handle and pass it across.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Grasp the microphone with black tip and white body and pass it across.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Hold the microphone with textured metal head with the right arm and give it to the left arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the metal head microphone and deliver it to another side.", + "Secure the compact size microphone using one arm and transfer it.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the compact size microphone using the right arm and transfer it to the left arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Take the microphone for voice recording and move it to another hand.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the metal head microphone and pass it to another hand", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the metal head microphone and hand it over to the other side.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Take the microphone for voice recording and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Lift the black and white microphone and hand it to someone else.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Seize the handheld microphone and offer it to the other arm", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Grip the black and white microphone and pass it to the other side", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the black and white microphone and deliver it to another side.", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Pick the compact size microphone from the surface and switch hands.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode39.json b/handover_mic/ur5_randomized_500/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..cf12541c73647db03f9b1a1d4e9115fdb7198ac1 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grip the microphone with round foam head and pass it to the other side", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and pass it across.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Use one hand to grab the small audio microphone and pass it.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the dark blue microphone and move it to the other hand.", + "Secure the round head microphone from the table and transfer it.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grip the dark blue microphone and pass it to the other side", + "Lift the small audio microphone and hand it to the other side easily.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Take the microphone for recording sound and move it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the round head microphone and move it to the other hand.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the microphone with dark blue padding with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grip the small audio microphone and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Secure the round head microphone using one arm and transfer it.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the audio microphone with soft covering and shift it to the opposite hand." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode397.json b/handover_mic/ur5_randomized_500/instructions/episode397.json new file mode 100644 index 0000000000000000000000000000000000000000..592951b83bb59cc90398caaefc6dd4382f6fe749 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode397.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray stem microphone with foam top and move it to the other hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grab the gray stem microphone with foam top using the left arm and pass it over to the right arm.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone for recording sound and move it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the left arm to hold the microphone with round foam head, then give it to the right arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the microphone covered with foam tip and pass it across.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Pick up the round head microphone and hand it to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grasp the small audio microphone, then give it to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone with round foam head and move it to the other hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Take the round head microphone and pass it to another hand", + "Lift the small audio microphone, then pass it across without delay.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the round head microphone and hand it over to the other side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the audio microphone with soft covering and move it to another hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the round head microphone and move it to the opposite side", + "Grasp the small audio microphone, then give it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to the other hand.", + "Secure the round head microphone using one arm and transfer it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the round head microphone with one hand and transfer it", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Take the dark blue microphone using the left arm and transfer it to the right arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode4.json b/handover_mic/ur5_randomized_500/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..916a2a77b5fc975fe0e0fedaf6b4e54950141e4b --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the compact size microphone and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the compact size microphone and offer it to the other arm", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grab the microphone for voice recording and transfer it to another hand", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Take the white microphone handle black accents and move it to the other hand.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Hold the metal head microphone and shift it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the handheld microphone and move it to another hand.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the black and white microphone and pass it across.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Grasp the handheld microphone and pass it across.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Lift the white microphone handle black accents and hand it to someone else.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the metal head microphone and switch it to another hand.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it over to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Hold the compact size microphone and pass it to the other hand.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the metal head microphone and move it to another hand.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the compact size microphone and pass it across.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Pick the handheld microphone from the surface and switch hands.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the handheld microphone and hand it to the other side easily.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Grasp the handheld microphone and pass it across.", + "Take the handheld microphone and pass it to another hand", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the metal head microphone and deliver it to another side.", + "Pick up the compact size microphone and move it to the opposite side", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Pick the compact size microphone and transfer it to the other arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grab the compact size microphone and transfer it to another hand", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grab the compact size microphone and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode403.json b/handover_mic/ur5_randomized_500/instructions/episode403.json new file mode 100644 index 0000000000000000000000000000000000000000..c4bf26826ede5317479cee88384b4edbbebf9234 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode403.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the audio microphone with soft covering and pass it to another hand", + "Use one hand to grab the small audio microphone and pass it.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the small audio microphone and pass it across.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Secure the round head microphone from the table and transfer it.", + "Reach for the small audio microphone and move it to the other hand.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the small audio microphone with one hand and transfer it", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grab the round head microphone and transfer it to another hand", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the small audio microphone and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Hold the round head microphone and pass it to the other hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem and pass it across.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it over to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode404.json b/handover_mic/ur5_randomized_500/instructions/episode404.json new file mode 100644 index 0000000000000000000000000000000000000000..d6076d15c4f8337c7381d90c10113da48ab15295 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode404.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Lift the round head microphone, then pass it across without delay.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the small audio microphone and hand it to someone else.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the round head microphone and hand it over to the other arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the small audio microphone and shift it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the round head microphone and switch it to another hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the small audio microphone and pass it to the other hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the round head microphone and pass it to another hand", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode408.json b/handover_mic/ur5_randomized_500/instructions/episode408.json new file mode 100644 index 0000000000000000000000000000000000000000..8fad856d4f61efa32da339e9d2b6f70a23995d58 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode408.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the small audio microphone securely and shift it to another arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Take the microphone with dark blue padding and pass it to another hand", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the dark blue microphone using one arm and transfer it.", + "Hold the microphone for recording sound with one hand and transfer it", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Lift the dark blue microphone and pass it across.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the audio microphone with soft covering and move it to another hand.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the small audio microphone and pass it across.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grab the round head microphone and transfer it to another hand", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the round head microphone, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Take the microphone covered with foam tip and pass it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the round head microphone and pass it across.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the round head microphone and move it to another hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the microphone with round foam head using the left arm and pass it to the right arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode409.json b/handover_mic/ur5_randomized_500/instructions/episode409.json new file mode 100644 index 0000000000000000000000000000000000000000..e13d3b6e4e2bbf2d37f4985ba47a82226ee2d47c --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode409.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the microphone for recording sound and pass it across.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the small audio microphone and move it to the other hand.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode412.json b/handover_mic/ur5_randomized_500/instructions/episode412.json new file mode 100644 index 0000000000000000000000000000000000000000..adc1154a4c72a8713135075d9b6aa0ba4ab101b4 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode412.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the round head microphone and pass it to the other hand.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Lift the round head microphone and hand it to someone else.", + "Take the microphone with round foam head and move it to another hand.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Hold the small audio microphone and shift it to the other arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the microphone with round foam head and pass it across.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the round head microphone from the surface and switch hands.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grab the round head microphone and transfer it to another hand", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the round head microphone and hand it over to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the round head microphone and move it to another hand.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the round head microphone using one arm and transfer it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with one hand and transfer it", + "Reach for the small audio microphone and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the round head microphone and give it to the opposite arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the small audio microphone and deliver it to another side.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode415.json b/handover_mic/ur5_randomized_500/instructions/episode415.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c9e51a397c460f29ce8a8c3f781fe500a87f3d --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode415.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the round head microphone and shift it to the opposite hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the round head microphone with one hand and transfer it", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone with round foam head and pass it across.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the dark blue microphone and hand it over to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the small audio microphone and deliver it to another side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Seize the dark blue microphone and offer it to the other arm", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Secure the round head microphone using one arm and transfer it." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode419.json b/handover_mic/ur5_randomized_500/instructions/episode419.json new file mode 100644 index 0000000000000000000000000000000000000000..28ee3ef5cdbdc16a33cb40bb57e089ae905d6682 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode419.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grab the small audio microphone and transfer it to another hand", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the small audio microphone, then pass it across without delay.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the dark blue microphone and move it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Secure the small audio microphone using one arm and transfer it.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grasp the round head microphone and pass it across.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick the gray and dark blue microphone and transfer it to the other arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode42.json b/handover_mic/ur5_randomized_500/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..18b1a8e1eca7e5de9d06d4218e0f442f735e390d --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the small audio microphone and pass it to another hand", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use one hand to grab the dark blue microphone and pass it.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Lift the microphone for recording sound and pass it across.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the dark blue microphone and pass it across.", + "Take the microphone with round foam head and pass it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the round head microphone, then give it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the small audio microphone and hand it to the other side easily.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the dark blue microphone and pass it to another hand", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top and transfer it to another hand" + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode423.json b/handover_mic/ur5_randomized_500/instructions/episode423.json new file mode 100644 index 0000000000000000000000000000000000000000..4685a7415b5341435620b2a92168d57ebe8c9cc2 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode423.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the microphone for recording sound and move it to the other hand.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the small audio microphone and pass it across.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the small audio microphone and pass it to another hand", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Take the small audio microphone and move it to the other hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Take the round head microphone, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone for recording sound and pass it across.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grab the round head microphone and transfer it to another hand", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Grab the small audio microphone and give it to the opposite arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Take the microphone with dark blue padding and pass it to another hand", + "Secure the small audio microphone using one arm and transfer it.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the microphone with round foam head and hand it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode425.json b/handover_mic/ur5_randomized_500/instructions/episode425.json new file mode 100644 index 0000000000000000000000000000000000000000..9d11262b919534ffe8068ed4dfba9ce0d0f1068f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode425.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the black and white microphone, shift it, and release it to the other side.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grasp the handheld microphone and pass it across.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Take the microphone with textured metal head and move it to another hand.", + "Take the microphone with textured metal head and move it to the other hand.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the black and white microphone and hand it over to the other side.", + "Secure the handheld microphone using one arm and transfer it.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the metal head microphone and hand it over to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Hold the metal head microphone securely and shift it to another arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Grasp the black and white microphone and pass it across.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Take the handheld microphone and pass it to another hand", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Take the black and white microphone and move it to another hand.", + "Take the handheld microphone and move it to the other hand.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Pick the handheld microphone from the surface and switch hands.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Secure the compact size microphone using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grip the handheld microphone and pass it to the other side", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the black and white microphone and deliver it to another side.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the microphone with textured metal head and pass it across.", + "Lift the microphone for voice recording and hand it to someone else.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grasp the metal head microphone and pass it across.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the handheld microphone and pass it to the other hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode428.json b/handover_mic/ur5_randomized_500/instructions/episode428.json new file mode 100644 index 0000000000000000000000000000000000000000..81c3ef963261fcf4737995420aef6b234f3277e6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode428.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Take the microphone for recording sound and move it to another hand.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grab the microphone for recording sound and transfer it to another hand", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the dark blue microphone and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the round head microphone and deliver it to another side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Use one hand to grab the microphone for recording sound and pass it.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the round head microphone and switch it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the round head microphone and pass it across.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Secure the round head microphone using one arm and transfer it.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Hold the microphone for recording sound with one hand and transfer it", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grip the dark blue microphone and pass it to the other side", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Reach for the dark blue microphone and move it to the other hand.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the microphone with dark blue padding, then pass it across without delay." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode430.json b/handover_mic/ur5_randomized_500/instructions/episode430.json new file mode 100644 index 0000000000000000000000000000000000000000..ace962dec3e8fd291c4804df7f2e822c0ebddec0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode430.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the dark blue microphone and pass it across.", + "Grip the microphone for recording sound and pass it to the other side", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the microphone with round foam head and pass it across.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Lift the round head microphone and deliver it to the other side.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the dark blue microphone and hand it over to the other side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the small audio microphone and pass it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Secure the round head microphone using one arm and transfer it.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grip the small audio microphone and pass it to the other side", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the microphone with round foam head and pass it to another hand", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the gray stem microphone with foam top and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode433.json b/handover_mic/ur5_randomized_500/instructions/episode433.json new file mode 100644 index 0000000000000000000000000000000000000000..76653e97448c7c1b5144738befeb34ac7faee152 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode433.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grasp the round head microphone and pass it across.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Grab the microphone for recording sound and transfer it to another hand", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone with dark blue padding and pass it to another hand", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the round head microphone and pass it across.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the round head microphone and move it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the round head microphone and pass it across.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Grab the small audio microphone and transfer it to another hand", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the round head microphone and pass it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Lift the microphone with round foam head and pass it across.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Grasp the microphone covered with foam tip and pass it across.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the gray and dark blue microphone and pass it to another hand", + "Reach for the round head microphone and move it to the other hand.", + "Lift the microphone with round foam head and hand it to the other side easily." + ], + "unseen": [ + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode438.json b/handover_mic/ur5_randomized_500/instructions/episode438.json new file mode 100644 index 0000000000000000000000000000000000000000..90b995470abc4983e960a6b156c06573391fad35 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode438.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the small audio microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the microphone with dark blue padding and move it to another hand.", + "Take the round head microphone and move it to the other hand.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the gray and dark blue microphone and pass it to another hand", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Use one hand to grab the small audio microphone and pass it.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Take the microphone with dark blue padding and pass it to another hand", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the microphone for recording sound and deliver it to another side.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Lift the round head microphone and pass it across.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Secure the round head microphone from the table and transfer it.", + "Grasp the round head microphone and pass it across.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the small audio microphone and move it to another hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the small audio microphone and hand it to the other side easily." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode439.json b/handover_mic/ur5_randomized_500/instructions/episode439.json new file mode 100644 index 0000000000000000000000000000000000000000..abd221bbe37ed04e1484615a50b5f700d164affa --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode439.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Take the gray and dark blue microphone and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Lift the small audio microphone and hand it over to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with round foam head and transfer it to another hand", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Reach for the dark blue microphone and move it to the other hand.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Hold the microphone with round foam head with one hand and transfer it", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the dark blue microphone and pass it across.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Take the microphone covered with foam tip and move it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Secure the small audio microphone from the table and transfer it.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Seize the microphone with round foam head and offer it to the other arm", + "Take the round head microphone and pass it to another hand", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grip the round head microphone and pass it to the other side", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the round head microphone securely and shift it to another arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Secure the round head microphone using one arm and transfer it.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Use one hand to grab the small audio microphone and pass it." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode441.json b/handover_mic/ur5_randomized_500/instructions/episode441.json new file mode 100644 index 0000000000000000000000000000000000000000..75253027b2e499b5907983128bc8a45b01816493 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode441.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with textured metal head and pass it across.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the metal head microphone and hand it over to the other arm.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Grasp the black and white microphone and pass it across.", + "Use one hand to grab the compact size microphone and pass it.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Secure the handheld microphone using one arm and transfer it.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the black and white microphone, shift it, and release it to the other side.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Seize the black and white microphone and offer it to the other arm", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Take the handheld microphone and move it to the other hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the metal head microphone with one hand and transfer it", + "Lift the metal head microphone and hand it to the other side easily.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Take the metal head microphone, shift it, and release it to the other side.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Take the black and white microphone and pass it to another hand", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Pick up the black and white microphone and move it to the opposite side", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Seize the microphone with textured metal head and offer it to the other arm", + "Lift the handheld microphone and hand it to someone else.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle and pass it across.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Grasp the microphone for voice recording and pass it across." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode442.json b/handover_mic/ur5_randomized_500/instructions/episode442.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc5b7cc3c02d6d9a6a85425b9293d7aaf659046 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode442.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the small audio microphone and transfer it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Lift the small audio microphone and pass it across.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the round head microphone from the table and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grip the dark blue microphone and pass it to the other side", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Take the microphone with round foam head and pass it to another hand", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Grasp the round head microphone and pass it across.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grasp the round head microphone and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the round head microphone from the table and transfer it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Grip the microphone for recording sound and pass it to the other side", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the round head microphone and move it to another hand.", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone and pass it across.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Use one hand to grab the dark blue microphone and pass it.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grab the small audio microphone and transfer it to another hand", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone covered with foam tip and pass it to the other hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode444.json b/handover_mic/ur5_randomized_500/instructions/episode444.json new file mode 100644 index 0000000000000000000000000000000000000000..e83c5635ebc08189dc916f95f7b318405280f379 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode444.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the round head microphone and switch it to another hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the dark blue microphone and pass it to another hand", + "Take the microphone for recording sound and move it to another hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the dark blue microphone and pass it across.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the round head microphone and hand it over to the other side.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Take the round head microphone and move it to another hand.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the round head microphone with one hand and transfer it", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the round head microphone and deliver it to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the dark blue microphone using the right arm and pass it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode447.json b/handover_mic/ur5_randomized_500/instructions/episode447.json new file mode 100644 index 0000000000000000000000000000000000000000..348916f21511f64c3f128a155130b429a4d45ad9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode447.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Lift the round head microphone and hand it over to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Secure the round head microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Lift the round head microphone and hand it to someone else.", + "Grab the round head microphone and transfer it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Hold the dark blue microphone with one hand and transfer it", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Pick the dark blue microphone from the surface and switch hands.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the small audio microphone and switch it to another hand.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the small audio microphone and hand it over to the other side.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grip the microphone for recording sound and pass it to the other side", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode449.json b/handover_mic/ur5_randomized_500/instructions/episode449.json new file mode 100644 index 0000000000000000000000000000000000000000..5a026c239be5e3e707df0ae9d83ad51a539d8d58 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode449.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the compact size microphone and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other side.", + "Take the black and white microphone using the right arm and transfer it to the left arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Lift the metal head microphone and hand it to someone else.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the handheld microphone and pass it across.", + "Grab the compact size microphone and give it to the opposite arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick the microphone with textured metal head and transfer it to the other arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the compact size microphone and move it to the other hand.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Hold the black and white microphone securely and shift it to another arm.", + "Secure the metal head microphone from the table and transfer it.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Take the metal head microphone and pass it to another hand", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Use the right arm to grab the black and white microphone and transfer it to the left arm.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Secure the compact size microphone using one arm and transfer it.", + "Hold the microphone for voice recording and deliver it to another side.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Hold the compact size microphone and pass it to the other hand.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the black and white microphone and hand it over to the other side.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the compact size microphone and hand it to someone else.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the metal head microphone and shift it to the other arm.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grasp the metal head microphone, then give it to the other arm.", + "Grasp the compact size microphone and pass it across.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the white microphone handle black accents and pass it across.", + "Grab the metal head microphone and give it to the opposite arm.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Use one hand to grab the compact size microphone and pass it.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Take the compact size microphone and move it to the other hand.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Reach for the compact size microphone and move it to the other hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Take the black and white microphone and pass it to another hand", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the compact size microphone and deliver it to another side.", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Seize the black and white microphone and offer it to the other arm", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grab the microphone with rounded mesh head using the right arm and pass it over to the left arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode454.json b/handover_mic/ur5_randomized_500/instructions/episode454.json new file mode 100644 index 0000000000000000000000000000000000000000..55679ad5e94ed116c1c7c343f85806836d2f7f51 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode454.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with dark blue padding and pass it to another hand", + "Hold the round head microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the small audio microphone and hand it over to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the microphone with round foam head and pass it across.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the microphone for recording sound and deliver it to another side.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Secure the microphone for recording sound from the table and transfer it." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode457.json b/handover_mic/ur5_randomized_500/instructions/episode457.json new file mode 100644 index 0000000000000000000000000000000000000000..14ca25d0de9187630102d9d2e7954330edb50807 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode457.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Secure the round head microphone from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the small audio microphone and deliver it to the other side.", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the round head microphone and pass it to another hand", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grip the round head microphone and pass it to the other side", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the round head microphone with one hand and transfer it", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Secure the microphone covered with foam tip from the table and transfer it." + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode460.json b/handover_mic/ur5_randomized_500/instructions/episode460.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf76b01e63e8af54ba69c6043bc3bb006162099 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode460.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Lift the microphone for recording sound and pass it across.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Take the microphone with dark blue padding and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Hold the microphone with round foam head with one hand and transfer it", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Seize the dark blue microphone and offer it to the other arm", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Pick the round head microphone and transfer it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the round head microphone and move it to another hand.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Take the audio microphone with soft covering and pass it to another hand", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the round head microphone and pass it across.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode463.json b/handover_mic/ur5_randomized_500/instructions/episode463.json new file mode 100644 index 0000000000000000000000000000000000000000..a5aa39287b8ed854e5e1748f70d277895a14e373 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode463.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small audio microphone and pass it to another hand", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the dark blue microphone and pass it across.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the dark blue microphone and hand it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the round head microphone and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Secure the microphone for recording sound from the table and transfer it.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Take the dark blue microphone and pass it to another hand", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Lift the round head microphone and pass it across.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grip the dark blue microphone and pass it to the other side", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Lift the round head microphone and hand it to someone else.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the microphone with round foam head and pass it across.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Reach for the round head microphone and move it to the other hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Take the small audio microphone and pass it to another hand", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the small audio microphone and hand it to the other side easily." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode464.json b/handover_mic/ur5_randomized_500/instructions/episode464.json new file mode 100644 index 0000000000000000000000000000000000000000..ba4803986dfebec873f1176061a601fbbd0d3529 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode464.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the dark blue microphone and hand it over to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Lift the microphone with dark blue padding and pass it across.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick up the round head microphone and hand it to the other side.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Secure the round head microphone from the table and transfer it.", + "Seize the small audio microphone and offer it to the other arm", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the small audio microphone with one hand and transfer it", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the dark blue microphone and pass it across.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Grasp the round head microphone, then give it to the other arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the small audio microphone and pass it across.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the small audio microphone from the surface and switch hands.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Take the dark blue microphone and move it to another hand.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the small audio microphone and pass it to the other hand.", + "Lift the microphone covered with foam tip and pass it across.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick up the microphone covered with foam tip and move it to the opposite side" + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode468.json b/handover_mic/ur5_randomized_500/instructions/episode468.json new file mode 100644 index 0000000000000000000000000000000000000000..e0e05ffa0046e03ba509a5e665db69b391c705b3 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode468.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Pick the black and white microphone and transfer it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Lift the black and white microphone and hand it over to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Take the metal head microphone and pass it to another hand", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Lift the metal head microphone and hand it to someone else.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grasp the compact size microphone and pass it across.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with rounded mesh head and pass it across.", + "Take the metal head microphone and move it to the other hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Hold the compact size microphone and deliver it to another side.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Hold the handheld microphone and pass it to the other hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Take the metal head microphone using the right arm and transfer it to the left arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Use one hand to grab the black and white microphone and pass it.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Secure the compact size microphone using one arm and transfer it.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Grasp the white microphone handle black accents and pass it across.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Lift the white microphone handle black accents and pass it across.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Hold the handheld microphone and deliver it to another side.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Hold the compact size microphone and pass it to the other hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode470.json b/handover_mic/ur5_randomized_500/instructions/episode470.json new file mode 100644 index 0000000000000000000000000000000000000000..57dc0ec365ab09549026d1ebfaa42c3504cd4882 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode470.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the medium microphone with two-tone color and pass it to the other side", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the round head microphone and deliver it to another side.", + "Take the round head microphone and pass it to another hand", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the audio microphone with soft covering and pass it across.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Take the microphone with round foam head and pass it to another hand", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the dark blue microphone and move it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the small audio microphone and pass it across.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Grab the round head microphone and give it to the opposite arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode478.json b/handover_mic/ur5_randomized_500/instructions/episode478.json new file mode 100644 index 0000000000000000000000000000000000000000..5305ac1b9aa3b7d337bab6bff4e53934328399e7 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode478.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Lift the black and white microphone, then pass it across without delay.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Seize the microphone for voice recording and offer it to the other arm", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Pick up the metal head microphone and move it to the opposite side", + "Hold the black and white microphone and shift it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the microphone with textured metal head and pass it across.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Grasp the microphone with textured metal head and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the black and white microphone, then pass it across without delay.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the metal head microphone and pass it across.", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the handheld microphone and shift it to the other arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Take the black and white microphone and pass it to another hand", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Use the left arm to hold the metal head microphone, then give it to the right arm.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Secure the black and white microphone from the table and transfer it.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Take the microphone with textured metal head and move it to another hand." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode481.json b/handover_mic/ur5_randomized_500/instructions/episode481.json new file mode 100644 index 0000000000000000000000000000000000000000..612eb496c27a4d9c7cd8debe6a394829f3e53f26 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode481.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the round head microphone and move it to the opposite side", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Take the dark blue microphone and move it to the other hand.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the left arm to grab the round head microphone and transfer it to the right arm.", + "Secure the round head microphone using one arm and transfer it.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the microphone with round foam head and move it to another hand.", + "Take the gray and dark blue microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Grip the round head microphone and pass it to the other side", + "Hold the microphone for recording sound with the left arm and give it to the right arm.", + "Grab the microphone with round foam head using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Grasp the small audio microphone and switch it to another hand.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the dark blue microphone and move it to the other hand.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Use the left arm to grab the microphone with round foam head and transfer it to the right arm.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Take the microphone with round foam head and move it to another hand.", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Lift the gray and dark blue microphone and pass it across.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Grab the small audio microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Hold the microphone for recording sound and deliver it to another side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grasp the dark blue microphone and switch it to another hand.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the round head microphone with one hand and transfer it" + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode482.json b/handover_mic/ur5_randomized_500/instructions/episode482.json new file mode 100644 index 0000000000000000000000000000000000000000..8aeacbc62913312f6a76e65687c48d8b6af33149 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode482.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round head microphone and pass it across.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Take the microphone with round foam head and move it to another hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the round head microphone and pass it to another hand", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the round head microphone and pass it across.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the dark blue microphone and shift it to the other arm.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grab the round head microphone and transfer it to another hand", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Grab the round head microphone using the right arm and pass it over to the left arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode485.json b/handover_mic/ur5_randomized_500/instructions/episode485.json new file mode 100644 index 0000000000000000000000000000000000000000..f105da491531e717feb3093fb7ed6481a85d8de6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode485.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Lift the small audio microphone and hand it to someone else.", + "Take the round head microphone and move it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound and pass it across.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Hold the round head microphone with one hand and transfer it", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick up the round head microphone and hand it to the other side.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Pick the dark blue microphone from the surface and switch hands.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Lift the dark blue microphone and deliver it to the other side.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Take the audio microphone with soft covering and move it to another hand.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grip the round head microphone and pass it to the other side", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the round head microphone and pass it across.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Seize the round head microphone and offer it to the other arm", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone for recording sound, then pass it across without delay." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode486.json b/handover_mic/ur5_randomized_500/instructions/episode486.json new file mode 100644 index 0000000000000000000000000000000000000000..b22cc3c3cdbdbacbe83360e7aee134ad175c1ddd --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode486.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark blue microphone and give it to the opposite arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Take the microphone for recording sound and move it to another hand.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the small audio microphone and pass it to the other hand.", + "Grasp the microphone for recording sound and pass it across.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Hold the microphone for recording sound with one hand and transfer it", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the small audio microphone and move it to another hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the small audio microphone and shift it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the microphone with round foam head and pass it across.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Lift the dark blue microphone and pass it across.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick the dark blue microphone from the surface and switch hands.", + "Seize the round head microphone and offer it to the other arm", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the round head microphone and switch it to another hand.", + "Secure the round head microphone using one arm and transfer it.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the round head microphone, then give it to the other arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Secure the round head microphone from the table and transfer it.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Hold the microphone with round foam head and deliver it to another side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Take the microphone with round foam head and move it to another hand.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Hold the microphone with smooth gray stem and shift it to the other arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode487.json b/handover_mic/ur5_randomized_500/instructions/episode487.json new file mode 100644 index 0000000000000000000000000000000000000000..e390d05be7856791ab9be60a358b2ca6223cd385 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode487.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Hold the dark blue microphone and shift it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Lift the audio microphone with soft covering and pass it across.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Grasp the microphone for recording sound and pass it across.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Use one arm to pick up the round head microphone and give it to the other.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Secure the small audio microphone using one arm and transfer it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the small audio microphone and hand it to someone else.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick up the round head microphone and move it to the opposite side", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Seize the microphone for recording sound and offer it to the other arm", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the round head microphone and pass it across.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Hold the round head microphone and pass it to the other hand.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head and smoothly give it to the other arm." + ], + "unseen": [ + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode489.json b/handover_mic/ur5_randomized_500/instructions/episode489.json new file mode 100644 index 0000000000000000000000000000000000000000..51009a0ebc34239f5308886932add6800c9b2f15 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode489.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black and white microphone and pass it across.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the metal head microphone and move it to another hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Hold the black and white microphone and shift it to the other arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Use one hand to grab the handheld microphone and pass it.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Seize the black and white microphone and offer it to the other arm", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Take the handheld microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Lift the metal head microphone and hand it over to the other side.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Grab the metal head microphone and transfer it to another hand", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grasp the compact size microphone and pass it across.", + "Lift the handheld microphone and pass it across.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the metal head microphone and move it to another hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Seize the metal head microphone and offer it to the other arm", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the metal head microphone and move it to the other hand.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grip the microphone for voice recording and pass it to the other side", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Hold the compact size microphone and pass it to the other hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Lift the handheld microphone and pass it across.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the handheld microphone and hand it to someone else.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the handheld microphone and switch it to another hand." + ], + "unseen": [ + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode492.json b/handover_mic/ur5_randomized_500/instructions/episode492.json new file mode 100644 index 0000000000000000000000000000000000000000..3e6f02a3c2312e70c04d935808e2d6a572fbbb44 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode492.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the microphone for recording sound and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the round head microphone and switch it to another hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Hold the round head microphone with one hand and transfer it", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the round head microphone and pass it across.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grab the dark blue microphone and transfer it to another hand", + "Use one hand to grab the microphone for recording sound and pass it.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Take the round head microphone and move it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the round head microphone and switch it to another hand.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Secure the small audio microphone using one arm and transfer it.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the round head microphone and deliver it to another side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Secure the small audio microphone from the table and transfer it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the dark blue microphone and move it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the audio microphone with soft covering and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode494.json b/handover_mic/ur5_randomized_500/instructions/episode494.json new file mode 100644 index 0000000000000000000000000000000000000000..5da643c08ba6228a37e5df3ed2c024f16be49313 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode494.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grasp the dark blue microphone and pass it across.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Lift the microphone covered with foam tip and pass it across.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Hold the small audio microphone and deliver it to another side.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Secure the microphone with round foam head from the table and transfer it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the round head microphone and hand it to someone else.", + "Lift the dark blue microphone and deliver it to the other side.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Take the small audio microphone and move it to another hand.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Lift the microphone covered with foam tip and pass it across.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the small audio microphone, then give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the round head microphone and hand it to someone else.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Pick up the microphone with smooth gray stem and move it to the opposite side", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode499.json b/handover_mic/ur5_randomized_500/instructions/episode499.json new file mode 100644 index 0000000000000000000000000000000000000000..6acc8a344450b352af7db896850ffe007b040640 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode499.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Pick up the round head microphone and hand it to the other side.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the small audio microphone, then pass it across without delay.", + "Take the small audio microphone and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grasp the gray and dark blue microphone and pass it across.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the microphone for recording sound and pass it across.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the dark blue microphone securely and shift it to another arm.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Grasp the round head microphone and switch it to another hand.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Take the microphone for recording sound and pass it to another hand", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Secure the microphone for recording sound from the table and transfer it.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick up the dark blue microphone and move it to the opposite side", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the small audio microphone and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Lift the audio microphone with soft covering and pass it across.", + "Grip the small audio microphone and pass it to the other side", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode50.json b/handover_mic/ur5_randomized_500/instructions/episode50.json new file mode 100644 index 0000000000000000000000000000000000000000..1db860fba14fbf71a81e29d107cecba7c704b4d6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode50.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small audio microphone and pass it across.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Lift the small audio microphone using the left arm and pass it to the right arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the small audio microphone and pass it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the dark blue microphone and pass it across.", + "Lift the dark blue microphone and deliver it to the other side.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the dark blue microphone with one hand and transfer it", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the small audio microphone and hand it over to the other arm.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Grasp the small audio microphone and switch it to another hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Secure the round head microphone using one arm and transfer it.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Take the microphone with smooth gray stem using the left arm and transfer it to the right arm.", + "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the round head microphone and hand it to someone else.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grasp the microphone with dark blue padding and pass it across.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Lift the small audio microphone and hand it to the other side easily.", + "Lift the round head microphone, then pass it across without delay.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Reach for the small audio microphone and move it to the other hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Lift the round head microphone and hand it over to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode52.json b/handover_mic/ur5_randomized_500/instructions/episode52.json new file mode 100644 index 0000000000000000000000000000000000000000..fa6f4497202689fa36598707908199fb93e2d1f6 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode52.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark blue microphone from the surface and switch hands.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the small audio microphone and pass it to the other hand.", + "Take the round head microphone, shift it, and release it to the other side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the dark blue microphone and switch it to another hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the dark blue microphone and hand it to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use one hand to grab the round head microphone and pass it.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Pick up the round head microphone and move it to the opposite side", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Lift the round head microphone and pass it across.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grasp the dark blue microphone and pass it across.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the small audio microphone and deliver it to another side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use the right arm to hold the small audio microphone, then give it to the left arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode53.json b/handover_mic/ur5_randomized_500/instructions/episode53.json new file mode 100644 index 0000000000000000000000000000000000000000..f5178817ce03050d69229f7cd45ea01fde1b7d07 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode53.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the metal head microphone and move it to the other hand.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the compact size microphone and pass it to the other hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Grasp the black and white microphone and switch it to another hand.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick the metal head microphone from the surface and switch hands.", + "Secure the microphone for voice recording from the table and transfer it.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Seize the compact size microphone and offer it to the other arm", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Grasp the handheld microphone, then give it to the other arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the handheld microphone with one hand and transfer it", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the compact size microphone and hand it over to the other arm.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Grasp the microphone with textured metal head and pass it across.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Take the black and white microphone and move it to the other hand.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Take the microphone with black tip and white body and pass it to another hand", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Take the mesh-patterned microphone head and move it to another hand.", + "Lift the microphone with black tip and white body and pass it across.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Pick up the metal head microphone and hand it to the other side.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Hold the handheld microphone and pass it to the other hand.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grasp the metal head microphone and switch it to another hand.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the handheld microphone with one hand and transfer it", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the handheld microphone, then pass it across without delay.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the compact size microphone and shift it to the other arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Grasp the microphone with textured metal head and pass it across.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Take the handheld microphone and move it to the other hand.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the metal head microphone and pass it to another hand", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Take the compact size microphone and move it to another hand.", + "Lift the compact size microphone and pass it across.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Pick up the compact size microphone and hand it to the other side.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Grip the white microphone handle black accents and pass it to the other side", + "Hold the compact size microphone and pass it to the other hand.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Hold the compact size microphone and deliver it to another side.", + "Grasp the compact size microphone and switch it to another hand.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Pick up the metal head microphone and transfer it to the opposite side." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode54.json b/handover_mic/ur5_randomized_500/instructions/episode54.json new file mode 100644 index 0000000000000000000000000000000000000000..4c8c21925b466ba130416dda5a5b4d4a30cf4878 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode54.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Hold the dark blue microphone and deliver it to another side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Take the round head microphone and move it to another hand.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Use one hand to grab the dark blue microphone and pass it.", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the round head microphone and deliver it to the other side.", + "Reach for the small audio microphone and move it to the other hand.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Lift the dark blue microphone and pass it across.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Take the microphone for recording sound and move it to another hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone covered with foam tip firmly and pass it to the other arm." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode58.json b/handover_mic/ur5_randomized_500/instructions/episode58.json new file mode 100644 index 0000000000000000000000000000000000000000..c694b16c47bede6bf93766b7988ddef2d1c73ff9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode58.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Hold the dark blue microphone and shift it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the dark blue microphone and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Lift the round head microphone and deliver it to the other side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the round head microphone and pass it across.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grip the gray and dark blue microphone and pass it to the other side", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Take the microphone with round foam head and move it to another hand.", + "Secure the small audio microphone from the table and transfer it.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Grab the microphone with round foam head and transfer it to another hand", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the round head microphone, then give it to the other arm.", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the microphone for recording sound with one hand and transfer it", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Take the dark blue microphone and pass it to another hand", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Grasp the round head microphone and pass it across.", + "Hold the small audio microphone and pass it to the other hand.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the small audio microphone and deliver it to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode60.json b/handover_mic/ur5_randomized_500/instructions/episode60.json new file mode 100644 index 0000000000000000000000000000000000000000..a0927201d650c6d544a8d498ceddebbaca3b44e0 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode60.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the round head microphone and hand it over to the other side.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the small audio microphone securely and shift it to another arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Secure the small audio microphone from the table and transfer it.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone with round foam head and move it to the other hand.", + "Seize the dark blue microphone and offer it to the other arm", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the small audio microphone and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the round head microphone, then pass it across without delay.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Take the microphone for recording sound and move it to another hand.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Lift the audio microphone with soft covering and pass it across.", + "Lift the round head microphone and deliver it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the gray and dark blue microphone and move it to another hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Secure the round head microphone using one arm and transfer it.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Lift the round head microphone and hand it to someone else.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the small audio microphone and move it to the opposite side", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Grab the gray and dark blue microphone and transfer it to another hand" + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode62.json b/handover_mic/ur5_randomized_500/instructions/episode62.json new file mode 100644 index 0000000000000000000000000000000000000000..027e02cda222837bb7e6a331f248d848d14a2bed --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode62.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the microphone for recording sound and pass it across.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Grasp the audio microphone with soft covering and pass it across.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Lift the small audio microphone and hand it to someone else.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Take the gray and dark blue microphone and pass it to another hand", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone and move it to the opposite side", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the microphone for recording sound and pass it across.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Take the gray and dark blue microphone and move it to another hand.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Pick the round head microphone from the surface and switch hands.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the microphone with dark blue padding and move it to the other hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Hold the microphone covered with foam tip and deliver it to another side." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode63.json b/handover_mic/ur5_randomized_500/instructions/episode63.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7fd8044a2ef0be13a626d3937600dc1ea152d8 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode63.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the round head microphone using one arm and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Pick up the round head microphone and move it to the opposite side", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Lift the small audio microphone and hand it over to the other arm.", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Pick up the round head microphone and hand it to the other side.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Grasp the microphone covered with foam tip and pass it across.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Seize the round head microphone and offer it to the other arm", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the dark blue microphone and move it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Secure the small audio microphone using one arm and transfer it.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the round head microphone and move it to the opposite side", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with round foam head and pass it across.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the microphone for recording sound with one hand and transfer it", + "Secure the round head microphone from the table and transfer it.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the small audio microphone and deliver it to the other side.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Grab the small audio microphone and give it to the opposite arm.", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the small audio microphone and hand it to the other side easily.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the dark blue microphone and move it to another hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Grip the dark blue microphone and pass it to the other side", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Lift the round head microphone, then pass it across without delay.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the microphone with round foam head and deliver it to another side.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode69.json b/handover_mic/ur5_randomized_500/instructions/episode69.json new file mode 100644 index 0000000000000000000000000000000000000000..065a55afe5dcc0a4a25df00cd621f0ab638c0278 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode69.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the dark blue microphone and move it to another hand.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the small audio microphone and switch it to another hand.", + "Grab the microphone with round foam head and transfer it to another hand", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone for recording sound, then give it to the right arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Hold the small audio microphone and shift it to the other arm.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grasp the small audio microphone and pass it across.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Secure the dark blue microphone from the table and transfer it.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Seize the microphone with round foam head and offer it to the other arm", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Lift the small audio microphone, then pass it across without delay.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Hold the gray and dark blue microphone securely and shift it to another arm.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the microphone for recording sound using the left arm and pass it over to the right arm.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the dark blue microphone and pass it across.", + "Take the microphone covered with foam tip and move it to another hand.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Grab the audio microphone with soft covering and give it to the opposite arm." + ], + "unseen": [ + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode7.json b/handover_mic/ur5_randomized_500/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..46a09c607f6258c7cf3a3fe6c54646567289616e --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Secure the small audio microphone using one arm and transfer it.", + "Reach for the dark blue microphone and move it to the other hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Take the round head microphone and move it to the other hand.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Secure the dark blue microphone from the table and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the round head microphone and deliver it to the other side.", + "Pick the small audio microphone and transfer it to the other arm.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the round head microphone and pass it across.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone and shift it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Lift the small audio microphone and hand it to someone else.", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Hold the round head microphone with one hand and transfer it", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Secure the round head microphone using one arm and transfer it.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Lift the round head microphone, then pass it across without delay.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Take the gray and dark blue microphone and pass it to another hand", + "Take the microphone with dark blue padding and move it to the other hand.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick the round head microphone and transfer it to the other arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grasp the small audio microphone and pass it across.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grip the round head microphone and pass it to the other side", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Take the microphone for recording sound and move it to another hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the round head microphone and give it to the opposite arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Secure the dark blue microphone using one arm and transfer it.", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand" + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode71.json b/handover_mic/ur5_randomized_500/instructions/episode71.json new file mode 100644 index 0000000000000000000000000000000000000000..0284cf03cfbb8156c1ad3470f332c537fb957f5d --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode71.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the round head microphone and hand it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Lift the round head microphone and pass it across.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Grasp the small audio microphone and pass it across.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Lift the round head microphone and hand it to the other side easily.", + "Grasp the microphone with dark blue padding and switch it to another hand.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the small audio microphone and move it to another hand.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the microphone with dark blue padding and pass it to another hand", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Hold the dark blue microphone securely and shift it to another arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the dark blue microphone and deliver it to the other side.", + "Hold the small audio microphone and pass it to the other hand.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Lift the gray and dark blue microphone and pass it across.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Seize the small audio microphone and offer it to the other arm", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Lift the dark blue microphone and hand it to someone else.", + "Grasp the dark blue microphone and pass it across.", + "Take the small audio microphone and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Use one hand to grab the round head microphone and pass it.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grip the small audio microphone and pass it to the other side", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Take the round head microphone and pass it to another hand", + "Grab the dark blue microphone and transfer it to another hand", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Lift the microphone covered with foam tip and pass it across.", + "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.", + "Seize the medium microphone with two-tone color and offer it to the other arm" + ], + "unseen": [ + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode74.json b/handover_mic/ur5_randomized_500/instructions/episode74.json new file mode 100644 index 0000000000000000000000000000000000000000..38364c0d2a68d50bf86c5e5884ccdef2e5195873 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode74.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone with round foam head and shift it to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Take the microphone covered with foam tip and move it to the other hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Take the microphone with dark blue padding and move it to another hand.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Use one hand to grab the medium microphone with two-tone color and pass it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Take the small audio microphone, shift it, and release it to the other side.", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grab the small audio microphone using the right arm and pass it over to the left arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Lift the microphone with round foam head and pass it across.", + "Hold the microphone for recording sound and shift it to the other arm.", + "Pick up the round head microphone and move it to the opposite side", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Seize the microphone with round foam head and offer it to the other arm", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Hold the dark blue microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the dark blue microphone and pass it to another hand", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone covered with foam tip and deliver it to the other side.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the audio microphone with soft covering, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode79.json b/handover_mic/ur5_randomized_500/instructions/episode79.json new file mode 100644 index 0000000000000000000000000000000000000000..f725bf84493635cf77d0de108f4d10c9ed04990a --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode79.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the round head microphone and hand it to the other side.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the audio microphone with soft covering and pass it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Grasp the microphone covered with foam tip and pass it across.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Lift the microphone with dark blue padding and pass it across.", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Grasp the audio microphone with soft covering, then give it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the dark blue microphone securely and shift it to another arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Grasp the microphone for recording sound and pass it across.", + "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the medium microphone with two-tone color and pass it across.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the small audio microphone, then pass it across without delay.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Hold the small audio microphone and shift it to the other arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Secure the round head microphone using one arm and transfer it.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grip the round head microphone and pass it to the other side", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Take the dark blue microphone and pass it to another hand", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the microphone with round foam head with one hand and transfer it" + ], + "unseen": [ + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode81.json b/handover_mic/ur5_randomized_500/instructions/episode81.json new file mode 100644 index 0000000000000000000000000000000000000000..4ddbce5afd930171f0f7bcbc07599c3c54d9535f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode81.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with round foam head from the surface and switch hands.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Hold the round head microphone securely and shift it to another arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem and move it to another hand.", + "Grip the small audio microphone and pass it to the other side", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the microphone for recording sound and transfer it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Hold the microphone with round foam head and deliver it to another side.", + "Use one hand to grab the round head microphone and pass it.", + "Lift the dark blue microphone and pass it across.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use the right arm to hold the microphone with dark blue padding, then give it to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the small audio microphone and pass it across.", + "Grasp the microphone for recording sound and shift it to the opposite hand.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Take the microphone covered with foam tip and move it to the other hand.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Lift the dark blue microphone and hand it over to the other side.", + "Take the small audio microphone and pass it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the microphone with round foam head and hand it to someone else.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Take the microphone covered with foam tip and move it to another hand.", + "Grip the small audio microphone and pass it to the other side", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Hold the round head microphone and deliver it to another side.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the medium microphone with two-tone color and pass it across.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Seize the microphone with round foam head and offer it to the other arm", + "Hold the microphone with dark blue padding and pass it to the other hand.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Hold the dark blue microphone with one hand and transfer it", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Take the microphone covered with foam tip and pass it to another hand", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Lift the small audio microphone and hand it to the other side easily." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode83.json b/handover_mic/ur5_randomized_500/instructions/episode83.json new file mode 100644 index 0000000000000000000000000000000000000000..4a78a9db7499752a069098c82828d237d697b60e --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode83.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the black and white microphone and switch it to another hand.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the compact size microphone and move it to another hand.", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Hold the compact size microphone securely and shift it to another arm.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the mesh-patterned microphone head and pass it to the other hand.", + "Secure the metal head microphone from the table and transfer it.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the metal head microphone and hand it over to the other arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Take the metal head microphone and pass it to another hand", + "Seize the microphone for voice recording and offer it to the other arm", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Lift the microphone for voice recording and hand it to someone else.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to another hand.", + "Lift the metal head microphone using the right arm and pass it to the left arm.", + "Take the microphone for voice recording and move it to the other hand.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the handheld microphone and pass it across.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Secure the compact size microphone from the table and transfer it.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Reach for the handheld microphone and move it to the other hand.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Use the right arm to hold the handheld microphone, then give it to the left arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the compact size microphone and switch it to another hand.", + "Grip the black and white microphone and pass it to the other side", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the metal head microphone and move it to another hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode86.json b/handover_mic/ur5_randomized_500/instructions/episode86.json new file mode 100644 index 0000000000000000000000000000000000000000..ee166d3e6d4dde89cf894081db4f32cda081b8fe --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode86.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the microphone for recording sound and move it to the other hand.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Lift the medium microphone with two-tone color and pass it across.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Take the audio microphone with soft covering and move it to another hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Secure the round head microphone from the table and transfer it.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the small audio microphone and hand it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the microphone with round foam head and move it to the other hand.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Take the dark blue microphone and move it to the other hand.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Hold the round head microphone with the right arm and give it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the small audio microphone and pass it across.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the gray stem microphone with foam top and hand it over to the other side.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Grab the dark blue microphone and transfer it to another hand", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Grasp the microphone with round foam head and pass it across.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Hold the small audio microphone with one hand and transfer it", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Hold the dark blue microphone and deliver it to another side.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode88.json b/handover_mic/ur5_randomized_500/instructions/episode88.json new file mode 100644 index 0000000000000000000000000000000000000000..4618c6ef27bb1b7ae6cac66a5289d599609dbf7e --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode88.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with textured metal head and move it to another hand.", + "Hold the metal head microphone and shift it to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Lift the compact size microphone and pass it across.", + "Pick up the handheld microphone and move it to the opposite side", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grip the metal head microphone and pass it to the other side", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.", + "Take the compact size microphone and pass it to another hand", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Lift the handheld microphone, then pass it across without delay.", + "Hold the handheld microphone and pass it to the other hand.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the black and white microphone and hand it to someone else.", + "Take the black and white microphone and move it to the other hand.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Grab the compact size microphone and transfer it to another hand", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the handheld microphone and hand it over to the other arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the handheld microphone securely and shift it to another arm.", + "Hold the microphone for voice recording with one hand and transfer it", + "Take the black and white microphone and move it to another hand.", + "Hold the black and white microphone and shift it to the other arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the microphone for voice recording and pass it across.", + "Pick up the handheld microphone and move it to the opposite side", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Grip the metal head microphone and pass it to the other side", + "Use one hand to grab the compact size microphone and pass it.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Reach for the black and white microphone and move it to the other hand.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Use the right arm to hold the compact size microphone, then give it to the left arm.", + "Lift the black and white microphone and hand it to someone else.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the metal head microphone and hand it over to the other side.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grab the microphone for voice recording and transfer it to another hand", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Grasp the metal head microphone and pass it across.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Hold the metal head microphone with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to another hand.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Grip the microphone with textured metal head and pass it to the other side", + "Use one hand to grab the metal head microphone and pass it.", + "Grasp the white microphone handle black accents and shift it to the opposite hand." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode89.json b/handover_mic/ur5_randomized_500/instructions/episode89.json new file mode 100644 index 0000000000000000000000000000000000000000..0251e1521b916918a7373b5499cee23a1dd53f6f --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode89.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use the right arm to grab the microphone with round foam head and transfer it to the left arm.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Lift the dark blue microphone and hand it to someone else.", + "Hold the round head microphone and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Grasp the microphone with dark blue padding and pass it across.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the microphone for recording sound and hand it over to the other side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Pick up the dark blue microphone and hand it to the other side.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the audio microphone with soft covering and pass it to another hand", + "Reach for the dark blue microphone and move it to the other hand.", + "Pick up the dark blue microphone and move it to the opposite side", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the small audio microphone and pass it to the other hand.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Lift the small audio microphone and pass it across.", + "Hold the round head microphone and deliver it to another side.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Take the microphone with dark blue padding and move it to another hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Hold the small audio microphone and shift it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Grasp the small audio microphone and pass it across.", + "Pick up the gray and dark blue microphone, pass it to the other arm, and release.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Lift the microphone covered with foam tip and hand it over to the other side.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Grip the dark blue microphone and pass it to the other side", + "Hold the microphone with round foam head with one hand and transfer it", + "Lift the dark blue microphone and hand it to the other side easily.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the dark blue microphone and pass it to another hand", + "Reach for the dark blue microphone and move it to the other hand.", + "Pick up the small audio microphone and move it to the opposite side", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Grab the microphone with round foam head and smoothly give it to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Take the small audio microphone using the right arm and transfer it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the microphone covered with foam tip and deliver it to another side." + ], + "unseen": [ + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over" + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode91.json b/handover_mic/ur5_randomized_500/instructions/episode91.json new file mode 100644 index 0000000000000000000000000000000000000000..cd80d9af0713cc3a499e138b572882e5c15b910d --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode91.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Pick up the microphone with round foam head and move it to the opposite side", + "Lift the medium microphone with two-tone color and pass it across.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grasp the microphone with dark blue padding, then give it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick the small audio microphone and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Take the microphone covered with foam tip and pass it to another hand", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Use one arm to pick up the microphone for recording sound and give it to the other.", + "Hold the small audio microphone and deliver it to another side.", + "Secure the dark blue microphone from the table and transfer it.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Grasp the small audio microphone and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone for recording sound and deliver it to the other side.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the small audio microphone and pass it across.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grip the microphone with round foam head and pass it to the other side", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Take the microphone with round foam head using the right arm and transfer it to the left arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Hold the round head microphone and shift it to the other arm.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Grasp the gray and dark blue microphone and shift it to the opposite hand.", + "Seize the small audio microphone and offer it to the other arm", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Take the round head microphone, shift it, and release it to the other side.", + "Take the small audio microphone and move it to the other hand.", + "Take the microphone for recording sound and pass it to another hand", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Hold the microphone with round foam head and deliver it to another side.", + "Secure the small audio microphone from the table and transfer it.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the gray and dark blue microphone and pass it across.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone covered with foam tip with the right arm and give it to the left arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grip the dark blue microphone and pass it to the other side", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm." + ], + "unseen": [ + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode96.json b/handover_mic/ur5_randomized_500/instructions/episode96.json new file mode 100644 index 0000000000000000000000000000000000000000..03b2755f87e43cd5597b324142f8d2774e55a0b9 --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode96.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Grab the gray and dark blue microphone and give it to the opposite arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the small audio microphone, shift it, and release it to the other side.", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Take the small audio microphone and pass it to another hand", + "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the microphone with round foam head and hand it to the other side easily.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grasp the dark blue microphone and switch it to another hand.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Lift the dark blue microphone and hand it over to the other side.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Lift the round head microphone, then pass it across without delay.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Take the small audio microphone and move it to another hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Hold the dark blue microphone with one hand and transfer it", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the small audio microphone and deliver it to another side.", + "Use the right arm to hold the gray and dark blue microphone, then give it to the left arm.", + "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.", + "Pick the small audio microphone from the surface and switch hands.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Grip the microphone covered with foam tip and pass it to the other side", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Take the microphone with round foam head, pass it, and release it to complete the task.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Use one arm to pick up the microphone with smooth gray stem and give it to the other.", + "Take the microphone for recording sound and pass it to another hand", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the microphone with dark blue padding and smoothly give it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the small audio microphone and hand it over to the other side.", + "Reach for the microphone for recording sound and move it to the other hand.", + "Lift the dark blue microphone, then pass it across without delay.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Grasp the medium microphone with two-tone color and pass it across.", + "Grab the audio microphone with soft covering using the right arm and pass it over to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the round head microphone securely and shift it to another arm.", + "Take the medium microphone with two-tone color and move it to another hand.", + "Use one hand to grab the round head microphone and pass it.", + "Hold the small audio microphone with one hand and transfer it", + "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.", + "Lift the microphone for recording sound and hand it to someone else.", + "Hold the microphone for recording sound and deliver it to another side.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grab the dark blue microphone and transfer it to another hand", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Grip the small audio microphone and pass it to the other side", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Use one arm to pick up the dark blue microphone and give it to the other." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/handover_mic/ur5_randomized_500/instructions/episode98.json b/handover_mic/ur5_randomized_500/instructions/episode98.json new file mode 100644 index 0000000000000000000000000000000000000000..89e94de1a7344523c6fee9e6af682157154ab6af --- /dev/null +++ b/handover_mic/ur5_randomized_500/instructions/episode98.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the audio microphone with soft covering with the left arm and give it to the right arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Take the dark blue microphone using the left arm and transfer it to the right arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the round head microphone, then give it to the other arm.", + "Reach for the small audio microphone and move it to the other hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Seize the round head microphone and offer it to the other arm", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the round head microphone and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Lift the microphone with smooth gray stem using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.", + "Hold the microphone with smooth gray stem with one hand and transfer it", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Pick up the dark blue microphone and move it to the opposite side", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Pick up the microphone with round foam head and hand it to the other side.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the microphone covered with foam tip securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Use one arm to pick up the microphone with dark blue padding and give it to the other.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Hold the microphone with smooth gray stem and pass it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.", + "Lift the microphone with dark blue padding and pass it across.", + "Grab the small audio microphone and transfer it to another hand", + "Take the audio microphone with soft covering and move it to another hand.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Pick the gray and dark blue microphone from the surface and switch hands.", + "Lift the dark blue microphone, then pass it across without delay.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grab the round head microphone using the left arm and pass it over to the right arm.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Lift the dark blue microphone and deliver it to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding with the left arm and give it to the right arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file